Implement multibody joints and the new solver

examples3d/all_examples3.rs

@@ -8,6 +8,7 @@ use inflector::Inflector;
 use rapier_testbed3d::{Testbed, TestbedApp};
 use std::cmp::Ordering;
 
+mod articulations3;
 mod ccd3;
 mod collision_groups3;
 mod compound3;
@@ -15,6 +16,7 @@ mod convex_decomposition3;
 mod convex_polyhedron3;
 mod damping3;
 mod debug_add_remove_collider3;
+mod debug_articulations3;
 mod debug_big_colliders3;
 mod debug_boxes3;
 mod debug_cylinder3;
@@ -29,7 +31,7 @@ mod debug_trimesh3;
 mod domino3;
 mod fountain3;
 mod heightfield3;
-mod joints3;
+// mod joints3;
 mod keva3;
 mod locked_rotations3;
 mod one_way_platforms3;
@@ -78,6 +80,10 @@ pub fn main() {
     let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
         ("Fountain", fountain3::init_world),
         ("Primitives", primitives3::init_world),
+        (
+            "Multibody joints",
+            articulations3::init_world_with_articulations,
+        ),
         ("CCD", ccd3::init_world),
         ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
@@ -86,7 +92,7 @@ pub fn main() {
         ("Damping", damping3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
-        ("Joints", joints3::init_world),
+        ("Impulse Joints", articulations3::init_world_with_joints),
         ("Locked rotations", locked_rotations3::init_world),
         ("One-way platforms", one_way_platforms3::init_world),
         ("Platform", platform3::init_world),
@@ -94,6 +100,7 @@ pub fn main() {
         ("Sensor", sensor3::init_world),
         ("TriMesh", trimesh3::init_world),
         ("Keva tower", keva3::init_world),
+        ("(Debug) multibody_joints", debug_articulations3::init_world),
         (
             "(Debug) add/rm collider",
             debug_add_remove_collider3::init_world,