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feat: implement new "small-steps" solver + joint improvements

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This commit is contained in:
Sébastien Crozet
2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
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2
examples2d/one_way_platforms2.rs
View File

@@ -90,7 +90,7 @@ pub fn init_world(testbed: &mut Testbed) {
* depending on their position.
*/
testbed.add_callback(move |graphics, physics, _, run_state| {
if run_state.timestep_id % 50 == 0 && physics.bodies.len() <= 7 {
if run_state.timestep_id % 200 == 0 && physics.bodies.len() <= 7 {
// Spawn a new cube.
let collider = ColliderBuilder::cuboid(1.5, 2.0);
let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]);

4
examples2d/rope_joints2.rs
View File

@@ -51,9 +51,7 @@ pub fn init_world(testbed: &mut Testbed) {
let collider = ColliderBuilder::ball(rad);
colliders.insert_with_parent(collider, child_handle, &mut bodies);
let joint = RopeJointBuilder::new()
.local_anchor2(point![0.0, 0.0])
.limits([2.0, 2.0]);
let joint = RopeJointBuilder::new(2.0).local_anchor2(point![0.0, 0.0]);
impulse_joints.insert(character_handle, child_handle, joint, true);
/*