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| author | Sébastien Crozet <developer@crozet.re> | 2021-02-22 17:40:29 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-02-22 17:40:29 +0100 |
| commit | d31a327b45118a77bd9676f350f110683a235acf (patch) | |
| tree | ac972a97204f3b7d375a6c877336730312b76041 /src_testbed | |
| parent | c650bb1feff8763b309e0705fe6427ce94ed2b2e (diff) | |
| parent | e5c4c2e8ffccf81aa5436c166b426a01b8b8831e (diff) | |
| download | rapier-d31a327b45118a77bd9676f350f110683a235acf.tar.gz rapier-d31a327b45118a77bd9676f350f110683a235acf.tar.bz2 rapier-d31a327b45118a77bd9676f350f110683a235acf.zip | |
Merge pull request #119 from dimforge/joint_drive
Add joint motors
Diffstat (limited to 'src_testbed')
| -rw-r--r-- | src_testbed/nphysics_backend.rs | 6 | ||||
| -rw-r--r-- | src_testbed/physx_backend.rs | 22 |
2 files changed, 25 insertions, 3 deletions
diff --git a/src_testbed/nphysics_backend.rs b/src_testbed/nphysics_backend.rs index 8b88e28..698e255 100644 --- a/src_testbed/nphysics_backend.rs +++ b/src_testbed/nphysics_backend.rs @@ -121,7 +121,11 @@ impl NPhysicsWorld { } nphysics_joints.insert(c); - } + } // JointParams::GenericJoint(_) => { + // eprintln!( + // "Joint type currently unsupported by the nphysics backend: GenericJoint." + // ) + // } } } diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs index 319736c..f2a4f8a 100644 --- a/src_testbed/physx_backend.rs +++ b/src_testbed/physx_backend.rs @@ -344,13 +344,27 @@ impl PhysxWorld { .into_physx() .into(); - physx_sys::phys_PxRevoluteJointCreate( + let revolute_joint = physx_sys::phys_PxRevoluteJointCreate( physics.as_mut_ptr(), actor1, &frame1 as *const _, actor2, &frame2 as *const _, ); + + physx_sys::PxRevoluteJoint_setDriveVelocity_mut( + revolute_joint, + params.motor_target_vel, + true, + ); + + if params.motor_damping != 0.0 { + physx_sys::PxRevoluteJoint_setRevoluteJointFlag_mut( + revolute_joint, + physx_sys::PxRevoluteJointFlag::eDRIVE_ENABLED, + true, + ); + } } JointParams::PrismaticJoint(params) => { @@ -420,7 +434,11 @@ impl PhysxWorld { actor2, &frame2 as *const _, ); - } + } // JointParams::GenericJoint(_) => { + // eprintln!( + // "Joint type currently unsupported by the PhysX backend: GenericJoint." + // ) + // } } } } |