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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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24
benchmarks3d/stacks3.rs
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@@ -23,10 +23,9 @@ fn create_tower_circle(
* Translation::new(0.0, y, radius);
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos).build();
let rigid_body = RigidBodyBuilder::new_dynamic().position(pos);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
@@ -50,12 +49,9 @@ fn create_wall(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
@@ -83,12 +79,10 @@ fn create_pyramid(
- stack_height as f32 * half_extents.z;
// Build the rigid body.
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(vector![x, y, z])
.build();
let rigid_body = RigidBodyBuilder::new_dynamic().translation(vector![x, y, z]);
let handle = bodies.insert(rigid_body);
let collider =
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z).build();
ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
colliders.insert_with_parent(collider, handle, bodies);
}
}
@@ -110,11 +104,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 200.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(vector![0.0, -ground_height, 0.0])
.build();
let rigid_body = RigidBodyBuilder::new_static().translation(vector![0.0, -ground_height, 0.0]);
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size);
colliders.insert_with_parent(collider, handle, &mut bodies);
/*