rapier3d-urdf for loading URDF files into rapier3d. This will load the rigid-bodies, colliders, and joints.
rapier3d-stl for loading an STL file as a collision shape.
Added
Add Collider::converted_trimesh and MeshConverter for building a collider with a shape computed from a mesh’s
index and vertex buffers. That computed shape can currently be a TriMesh, a Cuboid (covering the mesh’s AABB or
OBB), a convex hull, or a convex decomposition.
Implement Default for RigidBodyBuilder. This is equivalent to RigidBodyBuilder::dynamic().
Implement Default for ColliderBuilder. This is equivalent to ColliderBuilder::ball(0.5).
Modified
Renamed JointAxesMask::X/Y/Z to ::LIN_X/LIN_Y/LIN_Z; and renamed JointAxisMask::X/Y/Z to ::LinX/LinY/LynZ to
make it clear it is not to be used as angular axes (the angular axis are JointAxesMask::ANG_X/ANG_Y/AngZ and
JointAxisMask::AngX/AngY/AngZ).
This PR introduces two new crates:
rapier3d-urdffor loading URDF files into rapier3d. This will load the rigid-bodies, colliders, and joints.rapier3d-stlfor loading an STL file as a collision shape.Added
Collider::converted_trimeshandMeshConverterfor building a collider with a shape computed from a mesh’s index and vertex buffers. That computed shape can currently be aTriMesh, aCuboid(covering the mesh’s AABB or OBB), a convex hull, or a convex decomposition.DefaultforRigidBodyBuilder. This is equivalent toRigidBodyBuilder::dynamic().DefaultforColliderBuilder. This is equivalent toColliderBuilder::ball(0.5).Modified
JointAxesMask::X/Y/Zto::LIN_X/LIN_Y/LIN_Z; and renamedJointAxisMask::X/Y/Zto::LinX/LinY/LynZto make it clear it is not to be used as angular axes (the angular axis areJointAxesMask::ANG_X/ANG_Y/AngZandJointAxisMask::AngX/AngY/AngZ).