62379de9ec
* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies * feat: add 2d inverse kinematics example * feat: make forward_kinematics auto-fix the root’s degrees of freedom * feat: add 3d inverse kinematics example * chore: update changelog * chore: clippy fixes * chore: more clippy fixes * fix tests
52 lines
1.2 KiB
Rust
52 lines
1.2 KiB
Rust
#![allow(clippy::too_many_arguments)]
|
|
|
|
extern crate nalgebra as na;
|
|
|
|
#[macro_use]
|
|
extern crate bitflags;
|
|
|
|
#[cfg(feature = "log")]
|
|
#[macro_use]
|
|
extern crate log;
|
|
|
|
pub use crate::graphics::{BevyMaterial, GraphicsManager};
|
|
pub use crate::harness::plugin::HarnessPlugin;
|
|
pub use crate::physics::PhysicsState;
|
|
pub use crate::plugin::TestbedPlugin;
|
|
pub use crate::testbed::{Testbed, TestbedApp, TestbedGraphics, TestbedState};
|
|
pub use bevy::prelude::KeyCode;
|
|
|
|
#[cfg(all(feature = "dim2", feature = "other-backends"))]
|
|
mod box2d_backend;
|
|
#[cfg(feature = "dim2")]
|
|
mod camera2d;
|
|
#[cfg(feature = "dim3")]
|
|
mod camera3d;
|
|
mod debug_render;
|
|
mod graphics;
|
|
pub mod harness;
|
|
mod mouse;
|
|
pub mod objects;
|
|
pub mod physics;
|
|
#[cfg(all(feature = "dim3", feature = "other-backends"))]
|
|
mod physx_backend;
|
|
mod plugin;
|
|
mod testbed;
|
|
mod ui;
|
|
|
|
#[cfg(feature = "dim2")]
|
|
pub mod math {
|
|
pub type Isometry<N> = na::Isometry2<N>;
|
|
pub type Vector<N> = na::Vector2<N>;
|
|
pub type Point<N> = na::Point2<N>;
|
|
pub type Translation<N> = na::Translation2<N>;
|
|
}
|
|
|
|
#[cfg(feature = "dim3")]
|
|
pub mod math {
|
|
pub type Isometry<N> = na::Isometry3<N>;
|
|
pub type Vector<N> = na::Vector3<N>;
|
|
pub type Point<N> = na::Point3<N>;
|
|
pub type Translation<N> = na::Translation3<N>;
|
|
}
|