diff options
Diffstat (limited to 'examples2d/joints2.rs')
| -rw-r--r-- | examples2d/joints2.rs | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/examples2d/joints2.rs b/examples2d/joints2.rs index 9333184..91d86cd 100644 --- a/examples2d/joints2.rs +++ b/examples2d/joints2.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 @@ -44,16 +45,16 @@ pub fn init_world(testbed: &mut Testbed) { // Vertical joint. if i > 0 { let parent_handle = *body_handles.last().unwrap(); - let joint = BallJoint::new(Point::origin(), point![0.0, shift]); - joints.insert(parent_handle, child_handle, joint); + let joint = RevoluteJoint::new().local_anchor2(point![0.0, shift]); + impulse_joints.insert(parent_handle, child_handle, joint); } // Horizontal joint. if k > 0 { let parent_index = body_handles.len() - numi; let parent_handle = body_handles[parent_index]; - let joint = BallJoint::new(Point::origin(), point![-shift, 0.0]); - joints.insert(parent_handle, child_handle, joint); + let joint = RevoluteJoint::new().local_anchor2(point![-shift, 0.0]); + impulse_joints.insert(parent_handle, child_handle, joint); } body_handles.push(child_handle); @@ -63,6 +64,6 @@ 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![numk as f32 * rad, numi as f32 * -rad], 20.0); } |