diff options
Diffstat (limited to 'examples3d')
| -rw-r--r-- | examples3d/inverse_kinematics3.rs | 1 | ||||
| -rw-r--r-- | examples3d/urdf3.rs | 31 |
2 files changed, 17 insertions, 15 deletions
diff --git a/examples3d/inverse_kinematics3.rs b/examples3d/inverse_kinematics3.rs index 7905ae0..50cd589 100644 --- a/examples3d/inverse_kinematics3.rs +++ b/examples3d/inverse_kinematics3.rs @@ -89,6 +89,7 @@ pub fn init_world(testbed: &mut Testbed) { link_id, &options, &Isometry::from(target_point), + |_| true, &mut displacements, ); multibody.apply_displacements(displacements.as_slice()); diff --git a/examples3d/urdf3.rs b/examples3d/urdf3.rs index 6069171..ea65d8c 100644 --- a/examples3d/urdf3.rs +++ b/examples3d/urdf3.rs @@ -1,6 +1,7 @@ use rapier3d::prelude::*; use rapier_testbed3d::Testbed; -use rapier_urdf::{UrdfLoaderOptions, UrdfRobot}; +use rapier_urdf::{UrdfLoaderOptions, UrdfMultibodyOptions, UrdfRobot}; +use std::path::Path; pub fn init_world(testbed: &mut Testbed) { /* @@ -17,28 +18,28 @@ pub fn init_world(testbed: &mut Testbed) { let options = UrdfLoaderOptions { create_colliders_from_visual_shapes: true, create_colliders_from_collision_shapes: false, - apply_imported_mass_props: false, make_roots_fixed: true, // Z-up to Y-up. shift: Isometry::rotation(Vector::x() * std::f32::consts::FRAC_PI_2), - rigid_body_blueprint: RigidBodyBuilder::default().gravity_scale(1.0), - collider_blueprint: ColliderBuilder::default() - .density(1.0) - .active_collision_types(ActiveCollisionTypes::empty()), ..Default::default() }; + let (mut robot, _) = UrdfRobot::from_file("assets/3d/T12/urdf/T12.URDF", options, None).unwrap(); - // let (mut robot, _) = UrdfRobot::from_file("assets/3d/sample.urdf", options).unwrap(); - - // robot.insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints); - robot.insert_using_multibody_joints(&mut bodies, &mut colliders, &mut multibody_joints); - testbed.add_callback(move |mut graphics, physics, _, state| { - for (_, body) in physics.bodies.iter() { - println!("pose: {:?}", body.position()); - } - }); + // The robot can be inserted using impulse joints. + // (We clone because we want to insert the same robot once more afterward.) + robot + .clone() + .insert_using_impulse_joints(&mut bodies, &mut colliders, &mut impulse_joints); + // Insert the robot a second time, but using multibody joints this time. + robot.append_transform(&Isometry::translation(10.0, 0.0, 0.0)); + robot.insert_using_multibody_joints( + &mut bodies, + &mut colliders, + &mut multibody_joints, + UrdfMultibodyOptions::DISABLE_SELF_CONTACTS, + ); /* * Set up the testbed. |