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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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24
src/dynamics/joint/generic_joint.rs
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@@ -1,7 +1,9 @@
#![allow(clippy::bad_bit_mask)] // Clippy will complain about the bitmasks due to JointAxesMask::FREE_FIXED_AXES being 0.
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RopeJoint};
use crate::dynamics::{
FixedJoint, MotorModel, PrismaticJoint, RevoluteJoint, RigidBody, RopeJoint,
};
use crate::math::{Isometry, Point, Real, Rotation, SPATIAL_DIM, UnitVector, Vector};
use crate::utils::{SimdBasis, SimdRealCopy};
@@ -230,13 +232,13 @@ pub struct GenericJoint {
/// coupled linear DoF is applied to all coupled linear DoF. Similarly, if multiple angular DoF are limited/motorized
/// only the limits/motor configuration for the first coupled angular DoF is applied to all coupled angular DoF.
pub coupled_axes: JointAxesMask,
/// The limits, along each degrees of freedoms of this joint.
/// The limits, along each degree of freedoms of this joint.
///
/// Note that the limit must also be explicitly enabled by the `limit_axes` bitmask.
/// For coupled degrees of freedoms (DoF), only the first linear (resp. angular) coupled DoF limit and `limit_axis`
/// bitmask is applied to the coupled linear (resp. angular) axes.
pub limits: [JointLimits<Real>; SPATIAL_DIM],
/// The motors, along each degrees of freedoms of this joint.
/// The motors, along each degree of freedoms of this joint.
///
/// Note that the motor must also be explicitly enabled by the `motor_axes` bitmask.
/// For coupled degrees of freedoms (DoF), only the first linear (resp. angular) coupled DoF motor and `motor_axes`
@@ -244,7 +246,7 @@ pub struct GenericJoint {
pub motors: [JointMotor; SPATIAL_DIM],
/// Are contacts between the attached rigid-bodies enabled?
pub contacts_enabled: bool,
/// Whether or not the joint is enabled.
/// Whether the joint is enabled.
pub enabled: JointEnabled,
/// User-defined data associated to this joint.
pub user_data: u128,
@@ -516,6 +518,20 @@ impl GenericJoint {
self.motors[dim].target_pos = -self.motors[dim].target_pos;
}
}
pub(crate) fn transform_to_solver_body_space(&mut self, rb1: &RigidBody, rb2: &RigidBody) {
if rb1.is_fixed() {
self.local_frame1 = rb1.pos.position * self.local_frame1;
} else {
self.local_frame1.translation.vector -= rb1.mprops.local_mprops.local_com.coords;
}
if rb2.is_fixed() {
self.local_frame2 = rb2.pos.position * self.local_frame2;
} else {
self.local_frame2.translation.vector -= rb2.mprops.local_mprops.local_com.coords;
}
}
}
macro_rules! joint_conversion_methods(