Properly take initial sleeping state set by the user when creating a rigid-body

2 files changed, 18 insertions, 8 deletions

diff --git a/src/dynamics/island_manager.rs b/src/dynamics/island_manager.rs
index edd2579..e196503 100644
--- a/src/dynamics/island_manager.rs
+++ b/src/dynamics/island_manager.rs
@@ -1,6 +1,6 @@
 use crate::dynamics::{
-    ImpulseJointSet, MultibodyJointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyHandle,
-    RigidBodyIds, RigidBodySet, RigidBodyType, RigidBodyVelocity,
+    ImpulseJointSet, MultibodyJointSet, RigidBodyActivation, RigidBodyChanges, RigidBodyColliders,
+    RigidBodyHandle, RigidBodyIds, RigidBodySet, RigidBodyType, RigidBodyVelocity,
 };
 use crate::geometry::{ColliderSet, NarrowPhase};
 use crate::math::Real;
@@ -96,12 +96,18 @@ impl IslandManager {
         //       attempting to wake-up a rigid-body that has already been deleted.
         if bodies.get(handle).map(|rb| rb.body_type()) == Some(RigidBodyType::Dynamic) {
             let rb = bodies.index_mut_internal(handle);
-            rb.activation.wake_up(strong);
 
-            if rb.is_enabled() && self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle)
-            {
-                rb.ids.active_set_id = self.active_dynamic_set.len();
-                self.active_dynamic_set.push(handle);
+            // Check that the user didn’t change the sleeping state explicitly, in which
+            // case we don’t overwrite it.
+            if !rb.changes.contains(RigidBodyChanges::SLEEP) {
+                rb.activation.wake_up(strong);
+
+                if rb.is_enabled()
+                    && self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle)
+                {
+                    rb.ids.active_set_id = self.active_dynamic_set.len();
+                    self.active_dynamic_set.push(handle);
+                }
             }
         }
     }
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 26be983..bb1e9bf 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -135,7 +135,7 @@ impl RigidBody {
     }
 
     /// Sets the type of this rigid-body.
-    pub fn set_body_type(&mut self, status: RigidBodyType) {
+    pub fn set_body_type(&mut self, status: RigidBodyType, wake_up: bool) {
         if status != self.body_type {
             self.changes.insert(RigidBodyChanges::TYPE);
             self.body_type = status;
@@ -143,6 +143,10 @@ impl RigidBody {
             if status == RigidBodyType::Fixed {
                 self.vels = RigidBodyVelocity::zero();
             }
+
+            if self.is_dynamic() && wake_up {
+                self.wake_up(true);
+            }
         }
     }