diff options
Diffstat (limited to 'benchmarks3d/joint_revolute3.rs')
| -rw-r--r-- | benchmarks3d/joint_revolute3.rs | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/benchmarks3d/joint_revolute3.rs b/benchmarks3d/joint_revolute3.rs index d6dc06c..8bdf0e9 100644 --- a/benchmarks3d/joint_revolute3.rs +++ b/benchmarks3d/joint_revolute3.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 = 10; @@ -49,22 +50,21 @@ pub fn init_world(testbed: &mut Testbed) { colliders.insert_with_parent(collider, handles[k], &mut bodies); } - // Setup four joints. - let o = Point::origin(); + // Setup four impulse_joints. let x = Vector::x_axis(); let z = Vector::z_axis(); let revs = [ - RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z), - RevoluteJoint::new(o, x, point![-shift, 0.0, 0.0], x), - RevoluteJoint::new(o, z, point![0.0, 0.0, -shift], z), - RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x), + RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]), + RevoluteJoint::new(x).local_anchor2(point![-shift, 0.0, 0.0]), + RevoluteJoint::new(z).local_anchor2(point![0.0, 0.0, -shift]), + RevoluteJoint::new(x).local_anchor2(point![shift, 0.0, 0.0]), ]; - joints.insert(curr_parent, handles[0], revs[0]); - joints.insert(handles[0], handles[1], revs[1]); - joints.insert(handles[1], handles[2], revs[2]); - joints.insert(handles[2], handles[3], revs[3]); + impulse_joints.insert(curr_parent, handles[0], revs[0]); + impulse_joints.insert(handles[0], handles[1], revs[1]); + impulse_joints.insert(handles[1], handles[2], revs[2]); + impulse_joints.insert(handles[2], handles[3], revs[3]); curr_parent = handles[3]; } @@ -74,6 +74,6 @@ 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![478.0, 83.0, 228.0], point![134.0, 83.0, -116.0]); } |