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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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6
examples3d/convex_decomposition3.rs
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@@ -15,7 +15,8 @@ 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
@@ -52,7 +53,6 @@ pub fn init_world(testbed: &mut Testbed) {
.iter()
.map(|v| point![v.0, v.1, v.2])
.collect();
use std::iter::FromIterator;
let indices: Vec<_> = model
.polygons
.into_iter()
@@ -104,7 +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![100.0, 100.0, 100.0], Point::origin());
}