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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 /src/pipeline | |
| 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 'src/pipeline')
| -rw-r--r-- | src/pipeline/physics_pipeline.rs | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index 3884e19..95e408f 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -469,10 +469,10 @@ impl PhysicsPipeline { // TODO: do this only on user-change. // TODO: do we want some kind of automatic inverse kinematics? for multibody in &mut multibody_joints.multibodies { - multibody.1.update_root_type(bodies); - // FIXME: what should we do here? We should not - // rely on the next state here. multibody.1.forward_kinematics(bodies, true); + multibody + .1 + .update_rigid_bodies_internal(bodies, true, false, false); } self.detect_collisions( |