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feat: rename AxisMask to AxesMask + enable LIN_Z only in 3D (#805)

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This commit is contained in:
Sébastien Crozet
2025-03-05 18:07:19 +01:00
committed by GitHub
parent c10c08f150
commit 49fba6cd54
5 changed files with 30 additions and 29 deletions
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CHANGELOG.md
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@@ -4,7 +4,7 @@
- Add `PdController` and `PidController` for making it easier to control dynamic rigid-bodies at the velocity level.
This can for example be used as a building block for a dynamic character controller.
- Add `RigidBodyPosition::pose_errors` which computes the translational and rotational delta between
- Add `RigidBodyPosition::pose_errors` to compute the translational and rotational delta between
`RigidBodyPosition::position` and `::next_position`.
- Implement `Sub` for `RigidBodyVelocity`.
- Add `RigidBody::local_center_of_mass()` to get its center-of-mass in the rigid-body’s local-space.
@@ -103,9 +103,9 @@ This release introduces two new crates:
### Modified
- Renamed `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z`; and renamed `JointAxisMask::X/Y/Z` to `::LinX/LinY/LynZ` to
- Renamed `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z`; and renamed `JointAxesMask::X/Y/Z` to `::LinX/LinY/LynZ` to
make it clear it is not to be used as angular axes (the angular axis are `JointAxesMask::ANG_X/ANG_Y/AngZ` and
`JointAxisMask::AngX/AngY/AngZ`).
`JointAxesMask::AngX/AngY/AngZ`).
- The contact constraints regularization parameters have been changed from `erp/damping_ratio` to
`natural_frequency/damping_ratio`. This helps define them in a timestep-length independent way. The new variables
are named `IntegrationParameters::contact_natural_frequency` and `IntegrationParameters::contact_damping_ratio`.