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| author | Crozet Sébastien <developer@crozet.re> | 2021-07-11 18:41:51 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2021-07-11 19:21:50 +0200 |
| commit | 77a6cd3f26525ce6b02b63b34cb68d3a8a444ee2 (patch) | |
| tree | d7ad31295739f685a486d6653175630718a34760 /examples3d/joints3.rs | |
| parent | 9233a855f0fd13e61c475b32117838af95fb4c93 (diff) | |
| download | rapier-0.10.0.tar.gz rapier-0.10.0.tar.bz2 rapier-0.10.0.zip | |
Release v0.10.0v0.10.0
Diffstat (limited to 'examples3d/joints3.rs')
| -rw-r--r-- | examples3d/joints3.rs | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs index e22f293..fc64693 100644 --- a/examples3d/joints3.rs +++ b/examples3d/joints3.rs @@ -46,7 +46,7 @@ fn create_prismatic_joints( prism.limits[0] = -2.0; prism.limits[1] = 2.0; - joints.insert(bodies, curr_parent, curr_child, prism); + joints.insert(curr_parent, curr_child, prism); curr_parent = curr_child; } @@ -113,7 +113,7 @@ fn create_actuated_prismatic_joints( prism.limits[1] = 5.0; } - joints.insert(bodies, curr_parent, curr_child, prism); + joints.insert(curr_parent, curr_child, prism); curr_parent = curr_child; } @@ -168,10 +168,10 @@ fn create_revolute_joints( RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x), ]; - joints.insert(bodies, curr_parent, handles[0], revs[0]); - joints.insert(bodies, handles[0], handles[1], revs[1]); - joints.insert(bodies, handles[1], handles[2], revs[2]); - joints.insert(bodies, handles[2], handles[3], revs[3]); + joints.insert(curr_parent, handles[0], revs[0]); + joints.insert(handles[0], handles[1], revs[1]); + joints.insert(handles[1], handles[2], revs[2]); + joints.insert(handles[2], handles[3], revs[3]); curr_parent = handles[3]; } @@ -221,7 +221,7 @@ fn create_fixed_joints( Isometry::identity(), Isometry::translation(0.0, 0.0, -shift), ); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } // Horizontal joint. @@ -232,7 +232,7 @@ fn create_fixed_joints( Isometry::identity(), Isometry::translation(-shift, 0.0, 0.0), ); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } body_handles.push(child_handle); @@ -273,7 +273,7 @@ fn create_ball_joints( if i > 0 { let parent_handle = *body_handles.last().unwrap(); let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } // Horizontal joint. @@ -281,7 +281,7 @@ fn create_ball_joints( let parent_index = body_handles.len() - num; let parent_handle = body_handles[parent_index]; let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } body_handles.push(child_handle); @@ -348,7 +348,7 @@ fn create_actuated_revolute_joints( joint.configure_motor_velocity(-2.0, 0.1); } - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } parent_handle = child_handle; @@ -406,7 +406,7 @@ fn create_actuated_ball_joints( ); } - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } parent_handle = child_handle; |