diff options
| -rw-r--r-- | examples3d/spherical_joint_testing.rs | 4 | ||||
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody_joint.rs | 3 |
2 files changed, 5 insertions, 2 deletions
diff --git a/examples3d/spherical_joint_testing.rs b/examples3d/spherical_joint_testing.rs index e5f6ace..7a601f9 100644 --- a/examples3d/spherical_joint_testing.rs +++ b/examples3d/spherical_joint_testing.rs @@ -1,11 +1,11 @@ use rapier3d::prelude::*; -use rapier_testbed3d::{Testbed, TestbedApp}; +use rapier_testbed3d::Testbed; pub fn init_world(testbed: &mut Testbed) { let mut bodies = RigidBodySet::new(); let mut colliders = ColliderSet::new(); - let impulse_joints = ImpulseJointSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); let mut multibody_joints = MultibodyJointSet::new(); diff --git a/src/dynamics/joint/multibody_joint/multibody_joint.rs b/src/dynamics/joint/multibody_joint/multibody_joint.rs index 62fc434..11ea890 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint.rs @@ -115,6 +115,9 @@ impl MultibodyJoint { let angvel = Vector3::from_row_slice(&vels[curr_free_dof..curr_free_dof + 3]); let disp = UnitQuaternion::new_eps(angvel * dt, 0.0); self.joint_rot = disp * self.joint_rot; + self.coords[3] += angvel[0] * dt; + self.coords[4] += angvel[1] * dt; + self.coords[5] += angvel[2] * dt; } _ => unreachable!(), } |