Implement multibody joints and the new solver

examples2d/Cargo.toml

@@ -2,7 +2,7 @@
 name    = "rapier-examples-2d"
 version = "0.1.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-edition = "2018"
+edition = "2021"
 default-run = "all_examples2"
 
 [features]
@@ -19,10 +19,10 @@ lyon       = "0.17"
 usvg       = "0.14"
 
 [dependencies.rapier_testbed2d]
-path = "../build/rapier_testbed2d"
+path = "../crates/rapier_testbed2d"
 
 [dependencies.rapier2d]
-path = "../build/rapier2d"
+path = "../crates/rapier2d"
 
 [[bin]]
 name = "all_examples2"

examples2d/add_remove2.rs

@@ -4,12 +4,15 @@ use rapier_testbed2d::Testbed;
 pub fn init_world(testbed: &mut Testbed) {
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
     let rad = 0.5;
 
     let positions = [vector![5.0, -1.0], vector![-5.0, -1.0]];
 
-    let platform_handles = std::array::IntoIter::new(positions)
+    let platform_handles = positions
+        .into_iter()
         .map(|pos| {
             let rigid_body = RigidBodyBuilder::new_kinematic_position_based()
                 .translation(pos)
@@ -57,7 +60,8 @@ pub fn init_world(testbed: &mut Testbed) {
                 handle,
                 &mut physics.islands,
                 &mut physics.colliders,
-                &mut physics.joints,
+                &mut physics.impulse_joints,
+                &mut physics.multibody_joints,
             );
 
             if let Some(graphics) = &mut graphics {
@@ -69,6 +73,6 @@ 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![0.0, 0.0], 20.0);
 }

examples2d/ccd2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -123,6 +124,6 @@ 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![0.0, 2.5], 20.0);
 }

examples2d/collision_groups2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -89,6 +90,6 @@ 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![0.0, 1.0], 100.0);
 }

examples2d/convex_polygons2.rs

@@ -9,7 +9,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -76,6 +77,6 @@ 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![0.0, 50.0], 10.0);
 }

examples2d/damping2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Create the balls
@@ -38,6 +39,13 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world_with_params(bodies, colliders, joints, Vector::zeros(), ());
+    testbed.set_world_with_params(
+        bodies,
+        colliders,
+        impulse_joints,
+        multibody_joints,
+        Vector::zeros(),
+        (),
+    );
     testbed.look_at(point![3.0, 2.0], 50.0);
 }

examples2d/debug_box_ball2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -33,6 +34,6 @@ 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![0.0, 0.0], 50.0);
 }

examples2d/heightfield2.rs

@@ -8,7 +8,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -63,6 +64,6 @@ 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![0.0, 0.0], 10.0);
 }

examples2d/joints2.rs

@@ -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();
 
     /*
      * Create the balls
@@ -44,16 +45,16 @@ 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, shift]);
-                joints.insert(parent_handle, child_handle, joint);
+                let joint = RevoluteJoint::new().local_anchor2(point![0.0, shift]);
+                impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
             // Horizontal joint.
             if k > 0 {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
-                joints.insert(parent_handle, child_handle, joint);
+                let joint = RevoluteJoint::new().local_anchor2(point![-shift, 0.0]);
+                impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
             body_handles.push(child_handle);
@@ -63,6 +64,6 @@ 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![numk as f32 * rad, numi as f32 * -rad], 20.0);
 }

examples2d/locked_rotations2.rs

@@ -10,7 +10,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * The ground
@@ -51,6 +52,6 @@ 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![0.0, 0.0], 40.0);
 }

examples2d/one_way_platforms2.rs

@@ -62,7 +62,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -126,7 +127,8 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.set_world_with_params(
         bodies,
         colliders,
-        joints,
+        impulse_joints,
+        multibody_joints,
         vector![0.0, -9.81],
         physics_hooks,
     );

examples2d/platform2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground.
@@ -89,6 +90,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Run the simulation.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 1.0], 40.0);
 }

examples2d/polyline2.rs

@@ -8,7 +8,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -65,6 +66,6 @@ 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![0.0, 0.0], 10.0);
 }

examples2d/pyramid2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -50,6 +51,6 @@ 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![0.0, 2.5], 20.0);
 }

examples2d/restitution2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -44,6 +45,6 @@ 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![0.0, 1.0], 25.0);
 }

examples2d/sensor2.rs

@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground.
@@ -98,6 +99,6 @@ 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![0.0, 1.0], 100.0);
 }

examples2d/trimesh2.rs

@@ -13,7 +13,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -103,7 +104,7 @@ 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![0.0, 20.0], 17.0);
 }