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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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4
src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
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@@ -8,7 +8,7 @@ use crate::geometry::{Cone, Cylinder};
use crate::math::{Isometry, Point, Real, Vector, DIM};
use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject;
use crate::pipeline::debug_render_pipeline::DebugRenderStyle;
use crate::utils::WBasis;
use crate::utils::SimdBasis;
use std::any::TypeId;
use std::collections::HashMap;
@@ -221,7 +221,7 @@ impl DebugRenderPipeline {
}
if self.mode.contains(DebugRenderMode::MULTIBODY_JOINTS) {
for (handle, multibody, link) in multibody_joints.iter() {
for (handle, _, multibody, link) in multibody_joints.iter() {
let anc_color = self.style.multibody_joint_anchor_color;
let sep_color = self.style.multibody_joint_separation_color;
let parent = multibody.link(link.parent_id().unwrap()).unwrap();