diff options
Diffstat (limited to 'examples3d/debug_articulations3.rs')
| -rw-r--r-- | examples3d/debug_articulations3.rs | 23 |
1 files changed, 12 insertions, 11 deletions
diff --git a/examples3d/debug_articulations3.rs b/examples3d/debug_articulations3.rs index 3b75a21..0dbc66a 100644 --- a/examples3d/debug_articulations3.rs +++ b/examples3d/debug_articulations3.rs @@ -25,17 +25,20 @@ fn create_ball_articulations( RigidBodyType::Dynamic }; - let rigid_body = RigidBodyBuilder::new(status) - .translation(vector![fk * shift, 0.0, fi * shift * 2.0]) - .build(); + let rigid_body = RigidBodyBuilder::new(status).translation(vector![ + fk * shift, + 0.0, + fi * shift * 2.0 + ]); let child_handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build(); + let collider = ColliderBuilder::capsule_z(rad * 1.25, rad); colliders.insert_with_parent(collider, child_handle, bodies); // Vertical multibody_joint. if i > 0 { let parent_handle = *body_handles.last().unwrap(); - let joint = SphericalJoint::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]); + let joint = + SphericalJointBuilder::new().local_anchor2(point![0.0, 0.0, -shift * 2.0]); multibody_joints.insert(parent_handle, child_handle, joint); } @@ -43,7 +46,7 @@ fn create_ball_articulations( if k > 0 && i > 0 { let parent_index = body_handles.len() - num; let parent_handle = body_handles[parent_index]; - let joint = SphericalJoint::new().local_anchor2(point![-shift, 0.0, 0.0]); + let joint = SphericalJointBuilder::new().local_anchor2(point![-shift, 0.0, 0.0]); // let joint = // PrismaticJoint::new(Vector::y_axis()).local_anchor2(point![-shift, 0.0, 0.0]); // let joint = FixedJoint::new().local_anchor2(point![-shift, 0.0, 0.0]); @@ -68,15 +71,13 @@ pub fn init_world(testbed: &mut Testbed) { let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) .translation(vector![0.0, -3.02, 0.0]) - .rotation(vector![0.1, 0.0, 0.1]) - .build(); + .rotation(vector![0.1, 0.0, 0.1]); colliders.insert(collider); - let rigid_body = RigidBodyBuilder::new_dynamic().build(); + let rigid_body = RigidBodyBuilder::new_dynamic(); let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) .translation(vector![0.0, -3.0, 0.0]) - .rotation(vector![0.1, 0.0, 0.1]) - .build(); + .rotation(vector![0.1, 0.0, 0.1]); let handle = bodies.insert(rigid_body); colliders.insert_with_parent(collider, handle, &mut bodies); |