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feat: solver improvements + release v0.29.0 (#876)

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* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-09-05 19:31:58 +02:00
committed by GitHub
parent 317322b31b
commit 134f433903
94 changed files with 5066 additions and 8136 deletions
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10
examples3d/platform3.rs
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@@ -75,21 +75,25 @@ pub fn init_world(testbed: &mut Testbed) {
testbed.add_callback(move |_, physics, _, run_state| {
let velocity = vector![
0.0,
(run_state.time * 2.0).sin(),
(run_state.time * 2.0).cos(),
run_state.time.sin() * 2.0
];
// Update the velocity-based kinematic body by setting its velocity.
if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
platform.set_linvel(velocity, true);
platform.set_angvel(vector![0.0, 0.2, 0.0], true);
platform.set_angvel(vector![0.0, 1.0, 0.0], true);
}
// Update the position-based kinematic body by setting its next position.
if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
let mut next_tra = *platform.translation();
next_tra += velocity * physics.integration_parameters.dt;
let mut next_rot = *platform.rotation();
next_tra += -velocity * physics.integration_parameters.dt;
next_rot = Rotation::new(vector![0.0, -0.5 * physics.integration_parameters.dt, 0.0])
* next_rot;
platform.set_next_kinematic_translation(next_tra);
platform.set_next_kinematic_rotation(next_rot);
}
});