diff options
Diffstat (limited to 'benchmarks2d/joint_fixed2.rs')
| -rw-r--r-- | benchmarks2d/joint_fixed2.rs | 21 |
1 files changed, 9 insertions, 12 deletions
diff --git a/benchmarks2d/joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs index 8d6e8dc..690b8cb 100644 --- a/benchmarks2d/joint_fixed2.rs +++ b/benchmarks2d/joint_fixed2.rs @@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) { */ let mut bodies = RigidBodySet::new(); let mut colliders = ColliderSet::new(); - let mut joints = JointSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); /* * Create the balls @@ -46,22 +47,18 @@ pub fn init_world(testbed: &mut Testbed) { // Vertical joint. if i > 0 { let parent_handle = *body_handles.last().unwrap(); - let joint = FixedJoint::new( - Isometry::identity(), - Isometry::translation(0.0, shift), - ); - joints.insert(parent_handle, child_handle, joint); + let joint = + FixedJoint::new().local_frame2(Isometry::translation(0.0, shift)); + impulse_joints.insert(parent_handle, child_handle, joint); } // Horizontal joint. if k > 0 { let parent_index = body_handles.len() - num; let parent_handle = body_handles[parent_index]; - let joint = FixedJoint::new( - Isometry::identity(), - Isometry::translation(-shift, 0.0), - ); - joints.insert(parent_handle, child_handle, joint); + let joint = + FixedJoint::new().local_frame2(Isometry::translation(-shift, 0.0)); + impulse_joints.insert(parent_handle, child_handle, joint); } body_handles.push(child_handle); @@ -73,6 +70,6 @@ pub fn init_world(testbed: &mut Testbed) { /* * Set up the testbed. */ - testbed.set_world(bodies, colliders, joints); + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); testbed.look_at(point![50.0, 50.0], 5.0); } |