Merge pull request #267 from dimforge/multibody

Implement multibody joints, and new velocity-based constraints solver

1 files changed, 7 insertions, 12 deletions

diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs
index 3d1e317..b3f4039 100644
--- a/benchmarks3d/joint_fixed3.rs
+++ b/benchmarks3d/joint_fixed3.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();
 
     let rad = 0.4;
     let num = 5;
@@ -49,22 +50,16 @@ 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, 0.0, -shift),
-                            );
-                            joints.insert(parent_handle, child_handle, joint);
+                            let joint = FixedJoint::new().local_anchor2(point![0.0, 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, 0.0),
-                            );
-                            joints.insert(parent_handle, child_handle, joint);
+                            let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]);
+                            impulse_joints.insert(parent_handle, child_handle, joint);
                         }
 
                         body_handles.push(child_handle);
@@ -77,6 +72,6 @@ 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![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]);
 }