diff options
Diffstat (limited to 'benchmarks3d/joint_fixed3.rs')
| -rw-r--r-- | benchmarks3d/joint_fixed3.rs | 19 |
1 files changed, 7 insertions, 12 deletions
diff --git a/benchmarks3d/joint_fixed3.rs b/benchmarks3d/joint_fixed3.rs index 3d1e317..b3f4039 100644 --- a/benchmarks3d/joint_fixed3.rs +++ b/benchmarks3d/joint_fixed3.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(); let rad = 0.4; let num = 5; @@ -49,22 +50,16 @@ 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, 0.0, -shift), - ); - joints.insert(parent_handle, child_handle, joint); + let joint = FixedJoint::new().local_anchor2(point![0.0, 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, 0.0), - ); - joints.insert(parent_handle, child_handle, joint); + let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]); + impulse_joints.insert(parent_handle, child_handle, joint); } body_handles.push(child_handle); @@ -77,6 +72,6 @@ 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![-38.0, 14.0, 108.0], point![46.0, 12.0, 23.0]); } |