diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/articulations3.rs | 39 |
1 files changed, 38 insertions, 1 deletions
diff --git a/examples3d/articulations3.rs b/examples3d/articulations3.rs index a5dae03..358055a 100644 --- a/examples3d/articulations3.rs +++ b/examples3d/articulations3.rs @@ -1,6 +1,35 @@ use rapier3d::prelude::*; use rapier_testbed3d::Testbed; +fn create_coupled_joints( + bodies: &mut RigidBodySet, + colliders: &mut ColliderSet, + impulse_joints: &mut ImpulseJointSet, + multibody_joints: &mut MultibodyJointSet, + origin: Point<f32>, + use_articulations: bool, +) { + let ground = bodies.insert(RigidBodyBuilder::new_static().translation(origin.coords)); + let body1 = bodies.insert( + RigidBodyBuilder::new_dynamic() + .translation(origin.coords) + .linvel(vector![5.0, 5.0, 5.0]), + ); + colliders.insert_with_parent(ColliderBuilder::cuboid(1.0, 1.0, 1.0), body1, bodies); + + let joint1 = GenericJointBuilder::new(JointAxesMask::empty()) + .limits(JointAxis::X, [-3.0, 3.0]) + .limits(JointAxis::Y, [0.0, 3.0]) + .limits(JointAxis::Z, [0.0, 3.0]) + .coupled_axes(JointAxesMask::Y | JointAxesMask::Z); + + if use_articulations { + multibody_joints.insert(ground, body1, joint1); + } else { + impulse_joints.insert(ground, body1, joint1); + } +} + fn create_prismatic_joints( bodies: &mut RigidBodySet, colliders: &mut ColliderSet, @@ -450,7 +479,7 @@ fn create_actuated_revolute_joints( if i == 1 { joint = joint .local_anchor2(point![0.0, 2.0, -shift]) - .motor_velocity(-2.0, 100.0); + .motor_velocity(-2.0, 1000.0); } if use_articulations { @@ -617,6 +646,14 @@ fn do_init_world(testbed: &mut Testbed, use_articulations: bool) { point![-5.0, 0.0, 0.0], use_articulations, ); + create_coupled_joints( + &mut bodies, + &mut colliders, + &mut impulse_joints, + &mut multibody_joints, + point![0.0, 20.0, 0.0], + use_articulations, + ); /* * Set up the testbed. |