diff options
Diffstat (limited to 'examples3d/debug_prismatic3.rs')
| -rw-r--r-- | examples3d/debug_prismatic3.rs | 24 |
1 files changed, 9 insertions, 15 deletions
diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs index 43c6cc0..15176f3 100644 --- a/examples3d/debug_prismatic3.rs +++ b/examples3d/debug_prismatic3.rs @@ -4,7 +4,7 @@ use rapier_testbed3d::Testbed; fn prismatic_repro( bodies: &mut RigidBodySet, colliders: &mut ColliderSet, - joints: &mut JointSet, + impulse_joints: &mut ImpulseJointSet, box_center: Point<f32>, ) { let box_rb = bodies.insert( @@ -39,19 +39,12 @@ fn prismatic_repro( ); colliders.insert_with_parent(ColliderBuilder::ball(0.5).build(), wheel_rb, bodies); - let mut prismatic = rapier3d::dynamics::PrismaticJoint::new( - point![pos.x, pos.y, pos.z], - Vector::y_axis(), - Vector::zeros(), - Point::origin(), - Vector::y_axis(), - Vector::default(), - ); - prismatic.configure_motor_model(rapier3d::dynamics::SpringModel::VelocityBased); let (stiffness, damping) = (0.05, 0.2); - prismatic.configure_motor_position(0.0, stiffness, damping); - joints.insert(box_rb, wheel_rb, prismatic); + let prismatic = PrismaticJoint::new(Vector::y_axis()) + .local_anchor1(point![pos.x, pos.y, pos.z]) + .motor_position(0.0, stiffness, damping); + impulse_joints.insert(box_rb, wheel_rb, prismatic); } // put a small box under one of the wheels @@ -73,7 +66,8 @@ 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(); /* * Ground @@ -91,13 +85,13 @@ pub fn init_world(testbed: &mut Testbed) { prismatic_repro( &mut bodies, &mut colliders, - &mut joints, + &mut impulse_joints, point![0.0, 5.0, 0.0], ); /* * Set up the testbed. */ - testbed.set_world(bodies, colliders, joints); + testbed.set_world(bodies, colliders, impulse_joints, multibody_joints); testbed.look_at(point![10.0, 10.0, 10.0], Point::origin()); } |