From f74b8401ad9ef50b8cdbf1f43a2b21f6c42b0ebc Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 2 Jan 2022 14:47:40 +0100 Subject: Implement multibody joints and the new solver --- examples3d/debug_boxes3.rs | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) (limited to 'examples3d/debug_boxes3.rs') diff --git a/examples3d/debug_boxes3.rs b/examples3d/debug_boxes3.rs index ea39a8a..ddf86db 100644 --- a/examples3d/debug_boxes3.rs +++ b/examples3d/debug_boxes3.rs @@ -7,7 +7,8 @@ pub fn init_world(testbed: &mut Testbed) { */ let mut bodies = RigidBodySet::new(); let mut colliders = ColliderSet::new(); - let joints = JointSet::new(); + let impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); /* * Ground @@ -25,10 +26,10 @@ pub fn init_world(testbed: &mut Testbed) { } // Build the dynamic box rigid body. - for _ in 0..6 { + for _ in 0..2 { let rigid_body = RigidBodyBuilder::new_dynamic() .translation(vector![1.1, 0.0, 0.0]) - .rotation(vector![0.8, 0.2, 0.1]) + // .rotation(vector![0.8, 0.2, 0.1]) .can_sleep(false) .build(); let handle = bodies.insert(rigid_body); @@ -39,6 +40,6 @@ pub fn init_world(testbed: &mut Testbed) { /* * 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()); } -- cgit