17 lines
762 B
Markdown
17 lines
762 B
Markdown
## Unreleased
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This is the initial release of the `rapier3d-urdf` crate.
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### Added
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- Add `UrdfRobot` which is a collection of colliders, rigid-bodies and joints representing a robot loaded from an URDF
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file.
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- Add `UrdfRobot::from_file` to load an `UrdfRobot` from an URDF file.
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- Add `UrdfRobot::from_str` to load an `UrdfRobot` from a string in URDF format.
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- Add `UrdfRobot::from_robot` to load an `UrdfRobot` from an already loaded URDF
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robot (pre-parsed with the `xurdf` crate).
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- Add `UrdfRobot::insert_using_impulse_joints` to insert the robot to the rapier sets. Joints are represented as
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**impulse** joints.
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- Add `UrdfRobot::insert_using_impulse_joints` to insert the robot to the rapier sets. Joints are represented as
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**multibody** joints.
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