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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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32
examples3d/platform3.rs
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@@ -16,11 +16,9 @@ pub fn init_world(testbed: &mut Testbed) {
let ground_size = 10.0;
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);
/*
@@ -42,11 +40,9 @@ pub fn init_world(testbed: &mut Testbed) {
let z = k as f32 * shift - centerz;
// 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(rad, rad, rad).build();
let collider = ColliderBuilder::cuboid(rad, rad, rad);
colliders.insert_with_parent(collider, handle, &mut bodies);
}
}
@@ -55,21 +51,25 @@ pub fn init_world(testbed: &mut Testbed) {
/*
* Setup a velocity-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based()
.translation(vector![0.0, 1.5 + 0.8, -10.0 * rad])
.build();
let platform_body = RigidBodyBuilder::new_kinematic_velocity_based().translation(vector![
0.0,
1.5 + 0.8,
-10.0 * rad
]);
let velocity_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
colliders.insert_with_parent(collider, velocity_based_platform_handle, &mut bodies);
/*
* Setup a position-based kinematic rigid body.
*/
let platform_body = RigidBodyBuilder::new_kinematic_position_based()
.translation(vector![0.0, 2.0 + 1.5 + 0.8, -10.0 * rad])
.build();
let platform_body = RigidBodyBuilder::new_kinematic_position_based().translation(vector![
0.0,
2.0 + 1.5 + 0.8,
-10.0 * rad
]);
let position_based_platform_handle = bodies.insert(platform_body);
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0).build();
let collider = ColliderBuilder::cuboid(rad * 10.0, rad, rad * 10.0);
colliders.insert_with_parent(collider, position_based_platform_handle, &mut bodies);
/*