diff options
| -rw-r--r-- | examples3d/all_examples3.rs | 2 | ||||
| -rw-r--r-- | examples3d/rope_joints3.rs | 76 | ||||
| -rw-r--r-- | src/dynamics/joint/rope_joint.rs | 27 |
3 files changed, 103 insertions, 2 deletions
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 749cec0..f100a32 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -42,6 +42,7 @@ mod one_way_platforms3; mod platform3; mod primitives3; mod restitution3; +mod rope_joints3; mod sensor3; mod trimesh3; @@ -99,6 +100,7 @@ pub fn main() { ("One-way platforms", one_way_platforms3::init_world), ("Platform", platform3::init_world), ("Restitution", restitution3::init_world), + ("Rope Joints", rope_joints3::init_world), ("Sensor", sensor3::init_world), ("TriMesh", trimesh3::init_world), ("Keva tower", keva3::init_world), diff --git a/examples3d/rope_joints3.rs b/examples3d/rope_joints3.rs new file mode 100644 index 0000000..c72e40b --- /dev/null +++ b/examples3d/rope_joints3.rs @@ -0,0 +1,76 @@ +use rapier3d::prelude::*; +use rapier_testbed3d::Testbed; + +pub fn init_world(testbed: &mut Testbed) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + /* + * Ground + */ + let ground_size = 0.75; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); + let floor_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); + colliders.insert_with_parent(collider, floor_handle, &mut bodies); + + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![-ground_size - ground_height, ground_height, 0.0]); + let floor_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_height, ground_height, ground_size); + colliders.insert_with_parent(collider, floor_handle, &mut bodies); + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![ground_size + ground_height, ground_height, 0.0]); + let floor_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_height, ground_height, ground_size); + colliders.insert_with_parent(collider, floor_handle, &mut bodies); + + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, ground_height, -ground_size - ground_height]); + let floor_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_height); + colliders.insert_with_parent(collider, floor_handle, &mut bodies); + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, ground_height, ground_size + ground_height]); + let floor_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_height); + colliders.insert_with_parent(collider, floor_handle, &mut bodies); + + /* + * Character we will control manually. + */ + + let rigid_body = RigidBodyBuilder::kinematic_position_based().translation(vector![0.0, 0.3, 0.0]); + let character_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(0.15, 0.3, 0.15); + colliders.insert_with_parent(collider, character_handle, &mut bodies); + + testbed.set_initial_body_color(character_handle, [255. / 255., 131. / 255., 244.0 / 255.]); + + /* + * Tethered Ball + */ + let rad = 0.04; + + let rigid_body = RigidBodyBuilder::new(RigidBodyType::Dynamic).translation(vector![1.0, 1.0, 0.0]); + let child_handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::ball(rad); + colliders.insert_with_parent(collider, child_handle, &mut bodies); + + let joint = RopeJointBuilder::new().local_anchor2(point![0.0, 0.0, 0.0]).limits([2.0, 2.0]); + impulse_joints.insert(character_handle, child_handle, joint, true); + + /* + * Set up the testbed. + */ + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); + testbed.set_character_body(character_handle); + testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]); +} diff --git a/src/dynamics/joint/rope_joint.rs b/src/dynamics/joint/rope_joint.rs index cb68860..3b7317c 100644 --- a/src/dynamics/joint/rope_joint.rs +++ b/src/dynamics/joint/rope_joint.rs @@ -88,13 +88,16 @@ impl RopeJoint { /// The motor affecting the joint’s translational degree of freedom. #[must_use] - pub fn motor(&self) -> Option<&JointMotor> { - self.data.motor(JointAxis::X) + pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor> { + self.data.motor(axis) } /// Set the spring-like model used by the motor to reach the desired target velocity and position. pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self { self.data.set_motor_model(JointAxis::X, model); + self.data.set_motor_model(JointAxis::Y, model); + #[cfg(feature = "dim3")] + self.data.set_motor_model(JointAxis::Z, model); self } @@ -102,6 +105,11 @@ impl RopeJoint { pub fn set_motor_velocity(&mut self, target_vel: Real, factor: Real) -> &mut Self { self.data .set_motor_velocity(JointAxis::X, target_vel, factor); + self.data + .set_motor_velocity(JointAxis::Y, target_vel, factor); + #[cfg(feature = "dim3")] + self.data + .set_motor_velocity(JointAxis::Z, target_vel, factor); self } @@ -114,6 +122,11 @@ impl RopeJoint { ) -> &mut Self { self.data .set_motor_position(JointAxis::X, target_pos, stiffness, damping); + self.data + .set_motor_position(JointAxis::Y, target_pos, stiffness, damping); + #[cfg(feature = "dim3")] + self.data + .set_motor_position(JointAxis::Z, target_pos, stiffness, damping); self } @@ -127,12 +140,20 @@ impl RopeJoint { ) -> &mut Self { self.data .set_motor(JointAxis::X, target_pos, target_vel, stiffness, damping); + self.data + .set_motor(JointAxis::Y, target_pos, target_vel, stiffness, damping); + #[cfg(feature = "dim3")] + self.data + .set_motor(JointAxis::Y, target_pos, target_vel, stiffness, damping); self } /// Sets the maximum force the motor can deliver. pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self { self.data.set_motor_max_force(JointAxis::X, max_force); + self.data.set_motor_max_force(JointAxis::Y, max_force); + #[cfg(feature = "dim3")] + self.data.set_motor_max_force(JointAxis::Z, max_force); self } @@ -146,6 +167,8 @@ impl RopeJoint { pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self { self.data.set_limits(JointAxis::X, limits); self.data.set_limits(JointAxis::Y, limits); + #[cfg(feature = "dim3")] + self.data.set_limits(JointAxis::Z, limits); self } } |