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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
src/geometry/broad_phase_multi_sap/broad_phase.rs
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@@ -622,7 +622,7 @@ impl BroadPhase {
#[cfg(test)]
mod test {
use crate::dynamics::{IslandManager, JointSet, RigidBodyBuilder, RigidBodySet};
use crate::dynamics::{IslandManager, ImpulseJointSet, RigidBodyBuilder, RigidBodySet};
use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet};
#[test]
@@ -630,7 +630,7 @@ mod test {
let mut broad_phase = BroadPhase::new();
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let mut joints = JointSet::new();
let mut impulse_joints = ImpulseJointSet::new();
let mut islands = IslandManager::new();
let rb = RigidBodyBuilder::new_dynamic().build();
@@ -641,7 +641,7 @@ mod test {
let mut events = Vec::new();
broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
bodies.remove(hrb, &mut islands, &mut colliders, &mut joints);
bodies.remove(hrb, &mut islands, &mut colliders, &mut impulse_joints);
broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
// Create another body.