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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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29
src/dynamics/joint/mod.rs
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@@ -1,20 +1,21 @@
pub use self::ball_joint::BallJoint;
pub use self::fixed_joint::FixedJoint;
// pub use self::generic_joint::GenericJoint;
pub use self::joint::{Joint, JointParams};
pub(crate) use self::joint_set::{JointGraphEdge, JointIndex};
pub use self::joint_set::{JointHandle, JointSet};
pub use self::impulse_joint::*;
pub use self::joint_data::*;
pub use self::motor_model::MotorModel;
pub use self::multibody_joint::*;
pub use self::prismatic_joint::PrismaticJoint;
#[cfg(feature = "dim3")]
pub use self::revolute_joint::RevoluteJoint;
pub use self::spring_model::SpringModel;
mod ball_joint;
mod fixed_joint;
// mod generic_joint;
mod joint;
mod joint_set;
mod prismatic_joint;
#[cfg(feature = "dim3")]
pub use self::spherical_joint::SphericalJoint;
mod fixed_joint;
mod impulse_joint;
mod joint_data;
mod motor_model;
mod multibody_joint;
mod prismatic_joint;
mod revolute_joint;
mod spring_model;
#[cfg(feature = "dim3")]
mod spherical_joint;