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| author | Sébastien Crozet <developer@crozet.re> | 2022-06-23 16:23:39 +0200 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-07-03 13:55:41 +0200 |
| commit | 5063f3bb4fec2716f78a208552ee260f22428840 (patch) | |
| tree | b5665abb9c97469354c8c4dfd1a3fca21057ce16 /src/dynamics/joint/impulse_joint | |
| parent | cd0be8c076c69b88bb1848de72228225eeccb52d (diff) | |
| download | rapier-5063f3bb4fec2716f78a208552ee260f22428840.tar.gz rapier-5063f3bb4fec2716f78a208552ee260f22428840.tar.bz2 rapier-5063f3bb4fec2716f78a208552ee260f22428840.zip | |
Add the ability to disable contacts between two rigid-bodies attached by joints
Diffstat (limited to 'src/dynamics/joint/impulse_joint')
| -rw-r--r-- | src/dynamics/joint/impulse_joint/impulse_joint_set.rs | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs index c4ec734..7409172 100644 --- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs +++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs @@ -71,6 +71,20 @@ impl ImpulseJointSet { &self.joint_graph } + /// Iterates through all the joints between two rigid-bodies. + pub fn joints_between<'a>( + &'a self, + body1: RigidBodyHandle, + body2: RigidBodyHandle, + ) -> impl Iterator<Item = (ImpulseJointHandle, &'a ImpulseJoint)> { + self.rb_graph_ids + .get(body1.0) + .zip(self.rb_graph_ids.get(body2.0)) + .into_iter() + .flat_map(move |(id1, id2)| self.joint_graph.interaction_pair(*id1, *id2).into_iter()) + .map(|inter| (inter.2.handle, inter.2)) + } + /// Iterates through all the impulse joints attached to the given rigid-body. pub fn attached_joints<'a>( &'a self, |