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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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19
examples3d/primitives3.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 joints = JointSet::new();
let impulse_joints = ImpulseJointSet::new();
let multibody_joints = MultibodyJointSet::new();
/*
* Ground
@@ -51,13 +52,13 @@ pub fn init_world(testbed: &mut Testbed) {
let handle = bodies.insert(rigid_body);
let collider = match j % 5 {
0 => ColliderBuilder::cuboid(rad, rad, rad).build(),
1 => ColliderBuilder::ball(rad).build(),
// Rounded cylinders are much more efficient that cylinder, even if the
// rounding margin is small.
2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
3 => ColliderBuilder::cone(rad, rad).build(),
_ => ColliderBuilder::capsule_y(rad, rad).build(),
_ => ColliderBuilder::cuboid(rad, rad, rad).build(),
// 1 => ColliderBuilder::ball(rad).build(),
// // Rounded cylinders are much more efficient that cylinder, even if the
// // rounding margin is small.
// 2 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0).build(),
// 3 => ColliderBuilder::cone(rad, rad).build(),
// _ => ColliderBuilder::capsule_y(rad, rad).build(),
};
colliders.insert_with_parent(collider, handle, &mut bodies);
@@ -70,6 +71,6 @@ 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![100.0, 100.0, 100.0], Point::origin());
}