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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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13
benchmarks3d/joint_ball3.rs
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@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
let rad = 0.4;
let num = 100;
@@ -36,16 +37,16 @@ pub fn init_world(testbed: &mut Testbed) {
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift]);
joints.insert(parent_handle, child_handle, joint);
let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
// Horizontal joint.
if k > 0 {
let parent_index = body_handles.len() - num;
let parent_handle = body_handles[parent_index];
let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]);
joints.insert(parent_handle, child_handle, joint);
let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
impulse_joints.insert(parent_handle, child_handle, joint);
}
body_handles.push(child_handle);
@@ -55,6 +56,6 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
testbed.look_at(point![-110.0, -46.0, 170.0], point![54.0, -38.0, 29.0]);
}