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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
examples3d/collision_groups3.rs
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@@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 5.0;
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 floor_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, floor_handle, &mut bodies);
/*
@@ -34,8 +32,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let green_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
.translation(vector![0.0, 1.0, 0.0])
.collision_groups(GREEN_GROUP)
.build();
.collision_groups(GREEN_GROUP);
let green_collider_handle =
colliders.insert_with_parent(green_floor, floor_handle, &mut bodies);
@@ -46,8 +43,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let blue_floor = ColliderBuilder::cuboid(1.0, 0.1, 1.0)
.translation(vector![0.0, 2.0, 0.0])
.collision_groups(BLUE_GROUP)
.build();
.collision_groups(BLUE_GROUP);
let blue_collider_handle = colliders.insert_with_parent(blue_floor, floor_handle, &mut bodies);
testbed.set_initial_collider_color(blue_collider_handle, [0.0, 0.0, 1.0]);
@@ -77,13 +73,9 @@ pub fn init_world(testbed: &mut Testbed) {
(BLUE_GROUP, [0.0, 0.0, 1.0])
};
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(rad, rad, rad)
.collision_groups(group)
.build();
let collider = ColliderBuilder::cuboid(rad, rad, rad).collision_groups(group);
colliders.insert_with_parent(collider, handle, &mut bodies);
testbed.set_initial_body_color(handle, color);