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Joint API and joint motors improvements

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This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
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20
benchmarks2d/capsules2.rs
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@@ -15,25 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let ground_size = 25.0;
let rigid_body = RigidBodyBuilder::new_static().build();
let rigid_body = RigidBodyBuilder::new_static();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![ground_size, ground_size * 4.0])
.build();
.translation(vector![ground_size, ground_size * 4.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
let rigid_body = RigidBodyBuilder::new_static()
.rotation(std::f32::consts::FRAC_PI_2)
.translation(vector![-ground_size, ground_size * 4.0])
.build();
.translation(vector![-ground_size, ground_size * 4.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2).build();
let collider = ColliderBuilder::cuboid(ground_size * 4.0, 1.2);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*
@@ -54,11 +52,9 @@ pub fn init_world(testbed: &mut Testbed) {
let y = j as f32 * shifty + centery + 3.0;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
let collider = ColliderBuilder::capsule_y(rad * 1.5, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}