38 lines
1.7 KiB
Markdown
38 lines
1.7 KiB
Markdown
## STL loader for the Rapier physics engine
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Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-urdf`
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crate lets you convert an URDF file into a set of rigid-bodies, colliders, and joints, for usage with the
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`rapier3d` physics engine.
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## Optional cargo features
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- `stl`: enables loading STL meshes referenced by the URDF file.
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## Limitations
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Are listed below some known limitations you might want to be aware of before picking this library. Contributions to
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improve
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these elements are very welcome!
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- Mesh file types other than `stl` are not supported yet. Contributions are welcome. You my check the `rapier3d-stl`
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repository for an example of mesh loader.
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- When inserting joints as multibody joints, they will be reset to their neutral position (all coordinates = 0).
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- The following fields are currently ignored:
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- `Joint::dynamics`
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- `Joint::limit.effort` / `limit.velocity`
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- `Joint::mimic`
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- `Joint::safety_controller`
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## Resources and discussions
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- [Dimforge](https://dimforge.com): See all the open-source projects we are working on! Follow our announcements
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on our [blog](https://www.dimforge.com/blog).
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- [User guide](https://www.rapier.rs/docs/): Learn to use Rapier in your project by reading the official User Guides.
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- [Discord](https://discord.gg/vt9DJSW): Come chat with us, get help, suggest features, on Discord!
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- [NPM packages](https://www.npmjs.com/search?q=%40dimforge): Check out our NPM packages for Rapier, if you need to
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use it with JavaScript/Typescript.
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Please make sure to familiarize yourself with our [Code of Conduct](CODE_OF_CONDUCT.md)
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and our [Contribution Guidelines](CONTRIBUTING.md) before contributing or participating in
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discussions with the community.
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