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Add a basic lines-based debug-renderer

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This commit is contained in:
Sébastien Crozet
2022-04-22 15:45:53 +02:00
parent 21a31bc102
commit bc2ae4b512
19 changed files with 795 additions and 85 deletions
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156
examples3d/joints3.rs
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@@ -578,33 +578,33 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
// create_prismatic_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![20.0, 5.0, 0.0],
// 4,
// use_articulations,
// );
// create_actuated_prismatic_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![25.0, 5.0, 0.0],
// 4,
// use_articulations,
// );
// create_revolute_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![20.0, 0.0, 0.0],
// 3,
// use_articulations,
// );
create_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 5.0, 0.0],
4,
use_articulations,
);
create_actuated_prismatic_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![25.0, 5.0, 0.0],
4,
use_articulations,
);
create_revolute_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 0.0, 0.0],
3,
use_articulations,
);
create_revolute_joints_with_limits(
&mut bodies,
&mut colliders,
@@ -613,57 +613,57 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) {
point![34.0, 0.0, 0.0],
use_articulations,
);
// create_fixed_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![0.0, 10.0, 0.0],
// 10,
// use_articulations,
// );
// create_actuated_revolute_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![20.0, 10.0, 0.0],
// 6,
// use_articulations,
// );
// create_actuated_spherical_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![13.0, 10.0, 0.0],
// 3,
// use_articulations,
// );
// create_spherical_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// 15,
// use_articulations,
// );
// create_spherical_joints_with_limits(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![-5.0, 0.0, 0.0],
// use_articulations,
// );
// create_coupled_joints(
// &mut bodies,
// &mut colliders,
// &mut impulse_joints,
// &mut multibody_joints,
// point![0.0, 20.0, 0.0],
// use_articulations,
// );
create_fixed_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![0.0, 10.0, 0.0],
10,
use_articulations,
);
create_actuated_revolute_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![20.0, 10.0, 0.0],
6,
use_articulations,
);
create_actuated_spherical_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![13.0, 10.0, 0.0],
3,
use_articulations,
);
create_spherical_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
15,
use_articulations,
);
create_spherical_joints_with_limits(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![-5.0, 0.0, 0.0],
use_articulations,
);
create_coupled_joints(
&mut bodies,
&mut colliders,
&mut impulse_joints,
&mut multibody_joints,
point![0.0, 20.0, 0.0],
use_articulations,
);
/*
* Set up the testbed.