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Joint API and joint motors improvements

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This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
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20
examples3d/trimesh3.rs
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@@ -36,9 +36,9 @@ pub fn init_world(testbed: &mut Testbed) {
let heightfield = HeightField::new(heights, ground_size);
let (vertices, indices) = heightfield.to_trimesh();
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::trimesh(vertices, indices).build();
let collider = ColliderBuilder::trimesh(vertices, indices);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -60,19 +60,17 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider = match j % 6 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
0 => ColliderBuilder::cuboid(rad, rad, rad),
1 => ColliderBuilder::ball(rad),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
3 => ColliderBuilder::cone(rad, rad).build(),
4 => ColliderBuilder::capsule_y(rad, rad).build(),
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
3 => ColliderBuilder::cone(rad, rad),
4 => ColliderBuilder::capsule_y(rad, rad),
_ => {
let shapes = vec![
(
@@ -89,7 +87,7 @@ pub fn init_world(testbed: &mut Testbed) {
),
];
ColliderBuilder::compound(shapes).build()
ColliderBuilder::compound(shapes)
}
};