Allow disabling colliders, rigid-bodies and impulse joints

1 files changed, 10 insertions, 6 deletions

diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs
index cabf6ca..eb94c6b 100644
--- a/src/dynamics/rigid_body_components.rs
+++ b/src/dynamics/rigid_body_components.rs
@@ -112,6 +112,8 @@ bitflags::bitflags! {
         const DOMINANCE   = 1 << 5;
         /// Flag indicating that the local mass-properties of this rigid-body must be recomputed.
         const LOCAL_MASS_PROPERTIES = 1 << 6;
+        /// Flag indicating that the rigid-body was enabled or disabled.
+        const ENABLED_OR_DISABLED = 1 << 7;
     }
 }
 
@@ -329,12 +331,14 @@ impl RigidBodyMassProps {
 
         for handle in &attached_colliders.0 {
             if let Some(co) = colliders.get(*handle) {
-                if let Some(co_parent) = co.parent {
-                    let to_add = co
-                        .mprops
-                        .mass_properties(&*co.shape)
-                        .transform_by(&co_parent.pos_wrt_parent);
-                    self.local_mprops += to_add;
+                if co.is_enabled() {
+                    if let Some(co_parent) = co.parent {
+                        let to_add = co
+                            .mprops
+                            .mass_properties(&*co.shape)
+                            .transform_by(&co_parent.pos_wrt_parent);
+                        self.local_mprops += to_add;
+                    }
                 }
             }
         }