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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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16
examples3d/all_examples3.rs
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@@ -34,7 +34,10 @@ mod heightfield3;
mod joints3;
// mod joints3;
mod character_controller3;
mod debug_chain_high_mass_ratio3;
mod debug_cube_high_mass_ratio3;
mod debug_internal_edges3;
mod debug_long_chain3;
mod joint_motor_position3;
mod keva3;
mod locked_rotations3;
@@ -45,8 +48,10 @@ mod primitives3;
mod restitution3;
mod rope_joints3;
mod sensor3;
mod spring_joints3;
mod trimesh3;
mod vehicle_controller3;
mod vehicle_joints3;
fn demo_name_from_command_line() -> Option<String> {
let mut args = std::env::args();
@@ -105,8 +110,10 @@ pub fn main() {
("Restitution", restitution3::init_world),
("Rope Joints", rope_joints3::init_world),
("Sensor", sensor3::init_world),
("Spring Joints", spring_joints3::init_world),
("TriMesh", trimesh3::init_world),
("Vehicle controller", vehicle_controller3::init_world),
("Vehicle joints", vehicle_joints3::init_world),
("Keva tower", keva3::init_world),
("Newton cradle", newton_cradle3::init_world),
("(Debug) multibody_joints", debug_articulations3::init_world),
@@ -122,6 +129,15 @@ pub fn main() {
),
("(Debug) friction", debug_friction3::init_world),
("(Debug) internal edges", debug_internal_edges3::init_world),
("(Debug) long chain", debug_long_chain3::init_world),
(
"(Debug) high mass ratio: chain",
debug_chain_high_mass_ratio3::init_world,
),
(
"(Debug) high mass ratio: cube",
debug_cube_high_mass_ratio3::init_world,
),
("(Debug) triangle", debug_triangle3::init_world),
("(Debug) trimesh", debug_trimesh3::init_world),
("(Debug) cylinder", debug_cylinder3::init_world),