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 --- src/geometry/contact_pair.rs | 6 ------ 1 file changed, 6 deletions(-) (limited to 'src/geometry') diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index f5d0f64..739e7e8 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -359,16 +359,10 @@ impl ContactManifoldData { pub trait ContactManifoldExt { /// Computes the sum of all the impulses applied by contacts from this contact manifold. fn total_impulse(&self) -> Real; - /// Computes the maximum impulse applied by contacts from this contact manifold. - fn max_impulse(&self) -> Real; } impl ContactManifoldExt for ContactManifold { fn total_impulse(&self) -> Real { self.points.iter().map(|pt| pt.data.impulse).sum() } - - fn max_impulse(&self) -> Real { - self.points.iter().fold(0.0, |a, pt| a.max(pt.data.impulse)) - } } -- cgit