From 62379de9ecc81fb42b7c2a0d2b8e3e1b02d63f38 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sat, 25 May 2024 10:36:34 +0200 Subject: feat: add simple inverse-kinematics solver for multibodies (#632) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat: add a simple jacobian-based inverse-kinematics implementation for multibodies * feat: add 2d inverse kinematics example * feat: make forward_kinematics auto-fix the root’s degrees of freedom * feat: add 3d inverse kinematics example * chore: update changelog * chore: clippy fixes * chore: more clippy fixes * fix tests --- crates/rapier_testbed2d-f64/Cargo.toml | 2 +- crates/rapier_testbed2d/Cargo.toml | 2 +- crates/rapier_testbed3d-f64/Cargo.toml | 2 +- crates/rapier_testbed3d/Cargo.toml | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) (limited to 'crates') diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml index 2a090bf..800ac49 100644 --- a/crates/rapier_testbed2d-f64/Cargo.toml +++ b/crates/rapier_testbed2d-f64/Cargo.toml @@ -28,7 +28,7 @@ other-backends = ["wrapped2d"] features = ["parallel", "other-backends"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml index 6165e23..3935fcb 100644 --- a/crates/rapier_testbed2d/Cargo.toml +++ b/crates/rapier_testbed2d/Cargo.toml @@ -28,7 +28,7 @@ other-backends = ["wrapped2d"] features = ["parallel", "other-backends"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml index 99d6e85..8fd5628 100644 --- a/crates/rapier_testbed3d-f64/Cargo.toml +++ b/crates/rapier_testbed3d-f64/Cargo.toml @@ -27,7 +27,7 @@ parallel = ["rapier/parallel", "num_cpus"] features = ["parallel"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml index e8e7f3f..a3f3c5d 100644 --- a/crates/rapier_testbed3d/Cargo.toml +++ b/crates/rapier_testbed3d/Cargo.toml @@ -28,7 +28,7 @@ other-backends = ["physx", "physx-sys", "glam"] features = ["parallel", "other-backends"] [dependencies] -nalgebra = { version = "0.32", features = ["rand"] } +nalgebra = { version = "0.32", features = ["rand", "glam025"] } rand = "0.8" rand_pcg = "0.3" instant = { version = "0.1", features = ["web-sys", "now"] } -- cgit