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feat: Joints implementation #150

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feat: Joints implementation #150

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Neosoulink
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@Neosoulink Neosoulink commented Nov 20, 2024 •
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Summary

This PR introduces the Joints feature.

Joints are one of the advanced features natively available in Rapier.
This PR provides an easy, basic but robust way to deal with it.

Logs

  • Support for Joint types:
    • "fixed" | "spring" | "rope" | "generic" | "spherical" | "prismatic" | "revolute"
  • New components based on the supported joint types (FixedJoint, SphericalJoint, ...)

How to use

Here's a basic implementation example:

<RigidBody
  v-for="(ref, i) in bodyRefs"
  :key="i"
  :ref="ref"
  :type="i === 0 ? 'kinematic' : 'dynamic'"
  :position="[i * 1.5, 0, 0]"
   collider="ball"
 >
  <TresMesh>
    <TresSphereGeometry />
    <TresMeshNormalMaterial />
  </TresMesh>
</RigidBody>

<SphericalJoint
  v-for="(ref, i) in bodyRefs"
  :key="i"
  :bodies="[ref.value?.[0]?.instance, bodyRefs[i - 1]?.value?.[0]?.instance]"
  :params="[
    [-1.1, 0, 0],
    [1.1, 0, 0],
  ]"
/>

Preview

Screen.Recording.2024-11-20.at.2.10.27.AM.mov

Will close #108

@Neosoulink Neosoulink self-assigned this Nov 20, 2024
@Neosoulink Neosoulink marked this pull request as draft November 20, 2024 00:19
@Neosoulink Neosoulink marked this pull request as ready for review December 9, 2024 14:05
@Neosoulink
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Hi @alvarosabu, I just added a base documentation for Joint.
I'd appreciate having your review of it (the Joint implementation in general).

cc: @JaimeTorrealba

@Neosoulink Neosoulink added enhancement New feature or request feature p3-significant High-priority enhancement (priority) labels Dec 10, 2024
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@JaimeTorrealba JaimeTorrealba Awaiting requested review from JaimeTorrealba

@alvarosabu alvarosabu Awaiting requested review from alvarosabu alvarosabu is a code owner

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@Neosoulink Neosoulink

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enhancement New feature or request feature p3-significant High-priority enhancement (priority)
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Joints
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@Neosoulink