diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/debug_prismatic3.rs | 2 | ||||
| -rw-r--r-- | examples3d/joints3.rs | 24 |
2 files changed, 13 insertions, 13 deletions
diff --git a/examples3d/debug_prismatic3.rs b/examples3d/debug_prismatic3.rs index f41ef49..43c6cc0 100644 --- a/examples3d/debug_prismatic3.rs +++ b/examples3d/debug_prismatic3.rs @@ -51,7 +51,7 @@ fn prismatic_repro( let (stiffness, damping) = (0.05, 0.2); prismatic.configure_motor_position(0.0, stiffness, damping); - joints.insert(bodies, box_rb, wheel_rb, prismatic); + joints.insert(box_rb, wheel_rb, prismatic); } // put a small box under one of the wheels diff --git a/examples3d/joints3.rs b/examples3d/joints3.rs index e22f293..fc64693 100644 --- a/examples3d/joints3.rs +++ b/examples3d/joints3.rs @@ -46,7 +46,7 @@ fn create_prismatic_joints( prism.limits[0] = -2.0; prism.limits[1] = 2.0; - joints.insert(bodies, curr_parent, curr_child, prism); + joints.insert(curr_parent, curr_child, prism); curr_parent = curr_child; } @@ -113,7 +113,7 @@ fn create_actuated_prismatic_joints( prism.limits[1] = 5.0; } - joints.insert(bodies, curr_parent, curr_child, prism); + joints.insert(curr_parent, curr_child, prism); curr_parent = curr_child; } @@ -168,10 +168,10 @@ fn create_revolute_joints( RevoluteJoint::new(o, x, point![shift, 0.0, 0.0], x), ]; - joints.insert(bodies, curr_parent, handles[0], revs[0]); - joints.insert(bodies, handles[0], handles[1], revs[1]); - joints.insert(bodies, handles[1], handles[2], revs[2]); - joints.insert(bodies, handles[2], handles[3], revs[3]); + 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]); curr_parent = handles[3]; } @@ -221,7 +221,7 @@ fn create_fixed_joints( Isometry::identity(), Isometry::translation(0.0, 0.0, -shift), ); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } // Horizontal joint. @@ -232,7 +232,7 @@ fn create_fixed_joints( Isometry::identity(), Isometry::translation(-shift, 0.0, 0.0), ); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } body_handles.push(child_handle); @@ -273,7 +273,7 @@ fn create_ball_joints( if i > 0 { let parent_handle = *body_handles.last().unwrap(); let joint = BallJoint::new(Point::origin(), point![0.0, 0.0, -shift * 2.0]); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } // Horizontal joint. @@ -281,7 +281,7 @@ fn create_ball_joints( let parent_index = body_handles.len() - num; let parent_handle = body_handles[parent_index]; let joint = BallJoint::new(Point::origin(), point![-shift, 0.0, 0.0]); - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } body_handles.push(child_handle); @@ -348,7 +348,7 @@ fn create_actuated_revolute_joints( joint.configure_motor_velocity(-2.0, 0.1); } - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } parent_handle = child_handle; @@ -406,7 +406,7 @@ fn create_actuated_ball_joints( ); } - joints.insert(bodies, parent_handle, child_handle, joint); + joints.insert(parent_handle, child_handle, joint); } parent_handle = child_handle; |