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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 /examples3d/all_examples3.rs | |
| 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 'examples3d/all_examples3.rs')
| -rw-r--r-- | examples3d/all_examples3.rs | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 4c4d962..3e6398f 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -42,6 +42,7 @@ mod debug_cube_high_mass_ratio3; mod debug_internal_edges3; mod debug_long_chain3; mod debug_multibody_ang_motor_pos3; +mod inverse_kinematics3; mod joint_motor_position3; mod keva3; mod locked_rotations3; @@ -108,6 +109,7 @@ pub fn main() { ("Dynamic trimeshes", dynamic_trimesh3::init_world), ("Heightfield", heightfield3::init_world), ("Impulse Joints", joints3::init_world_with_joints), + ("Inverse kinematics", inverse_kinematics3::init_world), ("Joint Motor Position", joint_motor_position3::init_world), ("Locked rotations", locked_rotations3::init_world), ("One-way platforms", one_way_platforms3::init_world), |