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Joint entities rotations #511

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Joint entities rotations #511

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Objective

  • Allow to set the local rotation of the connected entities in RevoluteJoint (in 3D only) and in SphericalJoint

Solution

  • The rotation of the entities is controlled by the joints, which forces you to nest the connected entities inside another transform in order to change their rotation relative to the joints axes
  • This PR adds local_rotation1 and local_rotation2 (analogous to local_anchors) that are being added to the rotations synced from the entities transforms
  • These fields allow to set additional rotations of the entities relative to the joints axes

exoexo-dev
exoexo-dev commented Sep 8, 2024
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src/position.rs
}

#[cfg(feature = "3d")]
impl std::ops::MulAssign for Rotation {
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@exoexo-dev exoexo-dev Sep 8, 2024 •
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this impl is not needed for this PR, but it probably doesn't hurt to have it

@Jondolf Jondolf added C-Enhancement New feature or request A-Dynamics Relates to rigid body dynamics: motion, mass, constraint solving, joints, CCD, and so on labels Sep 9, 2024
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A-Dynamics Relates to rigid body dynamics: motion, mass, constraint solving, joints, CCD, and so on C-Enhancement New feature or request
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