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| author | Sébastien Crozet <developer@crozet.re> | 2024-05-25 10:36:34 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2024-05-25 10:36:34 +0200 |
| commit | 62379de9ecc81fb42b7c2a0d2b8e3e1b02d63f38 (patch) | |
| tree | 0d94615e68ea7423259729c0ede49b240cb4f638 /crates | |
| parent | af1ac9baa26b1199ae2728e91adf5345bcd1c693 (diff) | |
| download | rapier-62379de9ecc81fb42b7c2a0d2b8e3e1b02d63f38.tar.gz rapier-62379de9ecc81fb42b7c2a0d2b8e3e1b02d63f38.tar.bz2 rapier-62379de9ecc81fb42b7c2a0d2b8e3e1b02d63f38.zip | |
feat: add simple inverse-kinematics solver for multibodies (#632)
* 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
Diffstat (limited to 'crates')
| -rw-r--r-- | crates/rapier_testbed2d-f64/Cargo.toml | 2 | ||||
| -rw-r--r-- | crates/rapier_testbed2d/Cargo.toml | 2 | ||||
| -rw-r--r-- | crates/rapier_testbed3d-f64/Cargo.toml | 2 | ||||
| -rw-r--r-- | crates/rapier_testbed3d/Cargo.toml | 2 |
4 files changed, 4 insertions, 4 deletions
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml index 2a090bf..800ac49 100644 --- a/crates/rapier_testbed2d-f64/Cargo.toml +++ b/crates/rapier_testbed2d-f64/Cargo.toml @@ -28,7 +28,7 @@ other-backends = ["wrapped2d"] features = ["parallel", "other-backends"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml index 6165e23..3935fcb 100644 --- a/crates/rapier_testbed2d/Cargo.toml +++ b/crates/rapier_testbed2d/Cargo.toml @@ -28,7 +28,7 @@ other-backends = ["wrapped2d"] features = ["parallel", "other-backends"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml index 99d6e85..8fd5628 100644 --- a/crates/rapier_testbed3d-f64/Cargo.toml +++ b/crates/rapier_testbed3d-f64/Cargo.toml @@ -27,7 +27,7 @@ parallel = ["rapier/parallel", "num_cpus"] features = ["parallel"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml index e8e7f3f..a3f3c5d 100644 --- a/crates/rapier_testbed3d/Cargo.toml +++ b/crates/rapier_testbed3d/Cargo.toml @@ -28,7 +28,7 @@ other-backends = ["physx", "physx-sys", "glam"] features = ["parallel", "other-backends"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } |