3 releases (breaking)
new 0.3.0 | Sep 3, 2024 |
---|---|
0.2.0 | Jun 23, 2024 |
0.1.0 | Jun 9, 2024 |
#614 in Math
98 downloads per month
1.5MB
28K
SLoC
STL loader for the Rapier physics engine
Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The rapier3d-urdf
crate lets you convert an URDF file into a set of rigid-bodies, colliders, and joints, for usage with the
rapier3d
physics engine.
Optional cargo features
stl
: enables loading STL meshes referenced by the URDF file.
Limitations
Are listed below some known limitations you might want to be aware of before picking this library. Contributions to improve these elements are very welcome!
- Mesh file types other than
stl
are not supported yet. Contributions are welcome. You my check therapier3d-stl
repository for an example of mesh loader. - When inserting joints as multibody joints, they will be reset to their neutral position (all coordinates = 0).
- The following fields are currently ignored:
Joint::dynamics
Joint::limit.effort
/limit.velocity
Joint::mimic
Joint::safety_controller
Resources and discussions
- Dimforge: See all the open-source projects we are working on! Follow our announcements on our blog.
- User guide: Learn to use Rapier in your project by reading the official User Guides.
- Discord: Come chat with us, get help, suggest features, on Discord!
- NPM packages: Check out our NPM packages for Rapier, if you need to use it with JavaScript/Typescript.
Please make sure to familiarize yourself with our Code of Conduct and our Contribution Guidelines before contributing or participating in discussions with the community.
Dependencies
~11MB
~212K SLoC