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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/compound3.rs
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@@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 50.0;
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);
/*
@@ -45,20 +43,16 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift * 2.0 - centerz + offset;
// 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);
// First option: attach several colliders to a single rigid-body.
if j < numy / 2 {
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad).build();
let collider1 = ColliderBuilder::cuboid(rad * 10.0, rad, rad);
let collider2 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![rad * 10.0, rad * 10.0, 0.0])
.build();
.translation(vector![rad * 10.0, rad * 10.0, 0.0]);
let collider3 = ColliderBuilder::cuboid(rad, rad * 10.0, rad)
.translation(vector![-rad * 10.0, rad * 10.0, 0.0])
.build();
.translation(vector![-rad * 10.0, rad * 10.0, 0.0]);
colliders.insert_with_parent(collider1, handle, &mut bodies);
colliders.insert_with_parent(collider2, handle, &mut bodies);
colliders.insert_with_parent(collider3, handle, &mut bodies);
@@ -79,7 +73,7 @@ pub fn init_world(testbed: &mut Testbed) {
),
];
let collider = ColliderBuilder::compound(shapes).build();
let collider = ColliderBuilder::compound(shapes);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}