Merge pull request #267 from dimforge/multibody

Implement multibody joints, and new velocity-based constraints solver

10 files changed, 45 insertions, 41 deletions

diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
index c7c775d..bbab4d9 100644
--- a/benchmarks2d/Cargo.toml
+++ b/benchmarks2d/Cargo.toml
@@ -2,7 +2,7 @@
 name    = "rapier-benchmarks-2d"
 version = "0.1.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-edition = "2018"
+edition = "2021"
 
 [features]
 parallel = [ "rapier2d/parallel", "rapier_testbed2d/parallel" ]
@@ -16,10 +16,10 @@ rand       = "0.8"
 Inflector  = "0.11"
 
 [dependencies.rapier_testbed2d]
-path = "../build/rapier_testbed2d"
+path = "../crates/rapier_testbed2d"
 
 [dependencies.rapier2d]
-path = "../build/rapier2d"
+path = "../crates/rapier2d"
 
 [[bin]]
 name = "all_benchmarks2"
diff --git a/benchmarks2d/balls2.rs b/benchmarks2d/balls2.rs
index ec55f24..168acaf 100644
--- a/benchmarks2d/balls2.rs
+++ b/benchmarks2d/balls2.rs
@@ -7,7 +7,9 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
     /*
      * Ground
      */
@@ -58,6 +60,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 2.5], 5.0);
 }
diff --git a/benchmarks2d/boxes2.rs b/benchmarks2d/boxes2.rs
index 2e4c5e4..c3d7445 100644
--- a/benchmarks2d/boxes2.rs
+++ b/benchmarks2d/boxes2.rs
@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -63,6 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/capsules2.rs b/benchmarks2d/capsules2.rs
index e75afe4..3bfa6ab 100644
--- a/benchmarks2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -65,6 +66,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/convex_polygons2.rs b/benchmarks2d/convex_polygons2.rs
index 6c9792e..6678460 100644
--- a/benchmarks2d/convex_polygons2.rs
+++ b/benchmarks2d/convex_polygons2.rs
@@ -9,7 +9,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -76,6 +77,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs
index 3178e60..04c56da 100644
--- a/benchmarks2d/heightfield2.rs
+++ b/benchmarks2d/heightfield2.rs
@@ -8,7 +8,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -63,6 +64,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 50.0], 10.0);
 }
diff --git a/benchmarks2d/joint_ball2.rs b/benchmarks2d/joint_ball2.rs
index 114fe85..e856556 100644
--- a/benchmarks2d/joint_ball2.rs
+++ b/benchmarks2d/joint_ball2.rs
@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let mut joints = JointSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Create the balls
@@ -41,16 +42,16 @@ pub fn init_world(testbed: &mut Testbed) {
             // Vertical joint.
             if i > 0 {
                 let parent_handle = *body_handles.last().unwrap();
-                let joint = BallJoint::new(Point::origin(), point![0.0, shift]);
-                joints.insert(parent_handle, child_handle, joint);
+                let joint = RevoluteJoint::new().local_anchor2(point![0.0, shift]);
+                impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
             // Horizontal joint.
             if k > 0 {
                 let parent_index = body_handles.len() - numi;
                 let parent_handle = body_handles[parent_index];
-                let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]);
-                joints.insert(parent_handle, child_handle, joint);
+                let joint = RevoluteJoint::new().local_anchor2(point![-shift, 0.0]);
+                impulse_joints.insert(parent_handle, child_handle, joint);
             }
 
             body_handles.push(child_handle);
@@ -60,6 +61,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![numk as f32 * rad, numi as f32 * -rad], 5.0);
 }
diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs
index 8d6e8dc..690b8cb 100644
--- a/benchmarks2d/joint_fixed2.rs
+++ b/benchmarks2d/joint_fixed2.rs
@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let mut joints = JointSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Create the balls
@@ -46,22 +47,18 @@ pub fn init_world(testbed: &mut Testbed) {
                     // Vertical joint.
                     if i > 0 {
                         let parent_handle = *body_handles.last().unwrap();
-                        let joint = FixedJoint::new(
-                            Isometry::identity(),
-                            Isometry::translation(0.0, shift),
-                        );
-                        joints.insert(parent_handle, child_handle, joint);
+                        let joint =
+                            FixedJoint::new().local_frame2(Isometry::translation(0.0, shift));
+                        impulse_joints.insert(parent_handle, child_handle, joint);
                     }
 
                     // Horizontal joint.
                     if k > 0 {
                         let parent_index = body_handles.len() - num;
                         let parent_handle = body_handles[parent_index];
-                        let joint = FixedJoint::new(
-                            Isometry::identity(),
-                            Isometry::translation(-shift, 0.0),
-                        );
-                        joints.insert(parent_handle, child_handle, joint);
+                        let joint =
+                            FixedJoint::new().local_frame2(Isometry::translation(-shift, 0.0));
+                        impulse_joints.insert(parent_handle, child_handle, joint);
                     }
 
                     body_handles.push(child_handle);
@@ -73,6 +70,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![50.0, 50.0], 5.0);
 }
diff --git a/benchmarks2d/joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs
index c2b4bf3..20d423e 100644
--- a/benchmarks2d/joint_prismatic2.rs
+++ b/benchmarks2d/joint_prismatic2.rs
@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let mut joints = JointSet::new();
+    let mut impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Create the balls
@@ -46,12 +47,10 @@ pub fn init_world(testbed: &mut Testbed) {
                     UnitVector::new_normalize(vector![-1.0, 1.0])
                 };
 
-                let mut prism =
-                    PrismaticJoint::new(Point::origin(), axis, point![0.0, shift], axis);
-                prism.limits_enabled = true;
-                prism.limits[0] = -1.5;
-                prism.limits[1] = 1.5;
-                joints.insert(curr_parent, curr_child, prism);
+                let prism = PrismaticJoint::new(axis)
+                    .local_anchor2(point![0.0, shift])
+                    .limit_axis([-1.5, 1.5]);
+                impulse_joints.insert(curr_parent, curr_child, prism);
 
                 curr_parent = curr_child;
             }
@@ -61,6 +60,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![80.0, 80.0], 15.0);
 }
diff --git a/benchmarks2d/pyramid2.rs b/benchmarks2d/pyramid2.rs
index a557ff4..61636b9 100644
--- a/benchmarks2d/pyramid2.rs
+++ b/benchmarks2d/pyramid2.rs
@@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -50,6 +51,6 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![0.0, 2.5], 5.0);
 }