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| -rw-r--r-- | CHANGELOG.md | 2 | ||||
| -rw-r--r-- | src/dynamics/rigid_body.rs | 22 |
2 files changed, 24 insertions, 0 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md index 72c99a1..e2a0acf 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -9,6 +9,8 @@ Disabling a multibody joint isn’t supported yet. - Add `DynamicRayCastVehicleController`, a vehicle controller based on ray-casting and dynamic rigid-bodies (mostly a port of the vehicle controller from Bullet physics). +- Add `RigidBody::user_force` and `RigidBody::user_torque` to read the forces or torques added by the user to a + dynamic rigid-body. ### Modified - Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index bb1e9bf..78132b2 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -938,6 +938,28 @@ impl RigidBody { self.apply_impulse(impulse, wake_up); self.apply_torque_impulse(torque_impulse, wake_up); } + + /// Retrieves the constant force(s) that the user has added to the body. + /// + /// Returns zero if the rigid-body isn’t dynamic. + pub fn user_force(&self) -> Vector<Real> { + if self.body_type == RigidBodyType::Dynamic { + self.forces.user_force + } else { + Vector::zeros() + } + } + + /// Retrieves the constant torque(s) that the user has added to the body. + /// + /// Returns zero if the rigid-body isn’t dynamic. + pub fn user_torque(&self) -> AngVector<Real> { + if self.body_type == RigidBodyType::Dynamic { + self.forces.user_torque + } else { + AngVector::zero() + } + } } impl RigidBody { |