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-rw-r--r--CHANGELOG.md4
-rw-r--r--examples2d/all_examples2.rs4
-rw-r--r--examples2d/locked_rotations2.rs (renamed from examples2d/locked_rotation2.rs)0
-rw-r--r--examples3d/all_examples3.rs4
-rw-r--r--examples3d/debug_add_remove_collider3.rs2
-rw-r--r--examples3d/debug_dynamic_collider_add3.rs4
-rw-r--r--examples3d/debug_rollback3.rs6
-rw-r--r--examples3d/locked_rotations3.rs (renamed from examples3d/locked_rotation3.rs)2
-rw-r--r--src/dynamics/rigid_body.rs31
9 files changed, 41 insertions, 16 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0c722e9..c780bd5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,7 @@
+## v0.4.1
+- The `RigidBodyBuilder::principal_inertia` method has been deprecated and renamed to
+ `principal_angular_inertia` for clarity.
+
## v0.4.0
- The rigid-body `linvel`, `angvel`, and `position` fields are no longer public. Access using
their corresponding getters/setters. For example: `rb.linvel()`, `rb.set_linvel(vel, true)`.
diff --git a/examples2d/all_examples2.rs b/examples2d/all_examples2.rs
index dda50d6..d6cf947 100644
--- a/examples2d/all_examples2.rs
+++ b/examples2d/all_examples2.rs
@@ -16,7 +16,7 @@ mod damping2;
mod debug_box_ball2;
mod heightfield2;
mod joints2;
-mod locked_rotation2;
+mod locked_rotations2;
mod platform2;
mod pyramid2;
mod restitution2;
@@ -60,7 +60,7 @@ pub fn main() {
("Damping", damping2::init_world),
("Heightfield", heightfield2::init_world),
("Joints", joints2::init_world),
- ("Locked rotations", locked_rotation2::init_world),
+ ("Locked rotations", locked_rotations2::init_world),
("Platform", platform2::init_world),
("Pyramid", pyramid2::init_world),
("Restitution", restitution2::init_world),
diff --git a/examples2d/locked_rotation2.rs b/examples2d/locked_rotations2.rs
index f3d7fc2..f3d7fc2 100644
--- a/examples2d/locked_rotation2.rs
+++ b/examples2d/locked_rotations2.rs
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index 875643d..4bc15a8 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -26,7 +26,7 @@ mod fountain3;
mod heightfield3;
mod joints3;
mod keva3;
-mod locked_rotation3;
+mod locked_rotations3;
mod platform3;
mod primitives3;
mod restitution3;
@@ -79,7 +79,7 @@ pub fn main() {
("Domino", domino3::init_world),
("Heightfield", heightfield3::init_world),
("Joints", joints3::init_world),
- ("Locked rotations", locked_rotation3::init_world),
+ ("Locked rotations", locked_rotations3::init_world),
("Platform", platform3::init_world),
("Restitution", restitution3::init_world),
("Stacks", stacks3::init_world),
diff --git a/examples3d/debug_add_remove_collider3.rs b/examples3d/debug_add_remove_collider3.rs
index c8d72fc..a42dc97 100644
--- a/examples3d/debug_add_remove_collider3.rs
+++ b/examples3d/debug_add_remove_collider3.rs
@@ -1,4 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
+use na::Point3;
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet};
use rapier_testbed3d::Testbed;
diff --git a/examples3d/debug_dynamic_collider_add3.rs b/examples3d/debug_dynamic_collider_add3.rs
index 4ea6836..a71e95e 100644
--- a/examples3d/debug_dynamic_collider_add3.rs
+++ b/examples3d/debug_dynamic_collider_add3.rs
@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
.friction(0.15)
// .restitution(0.5)
.build();
- let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+ colliders.insert(collider, ground_handle, &mut bodies);
/*
* Rolling ball
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
extra_colliders.push(new_ball_collider_handle);
// Snap the ball velocity or restore it.
- let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
+ let ball = physics.bodies.get_mut(ball_handle).unwrap();
if step == snapped_frame {
linvel = *ball.linvel();
diff --git a/examples3d/debug_rollback3.rs b/examples3d/debug_rollback3.rs
index 6479e1f..19f9474 100644
--- a/examples3d/debug_rollback3.rs
+++ b/examples3d/debug_rollback3.rs
@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
.friction(0.15)
// .restitution(0.5)
.build();
- let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+ colliders.insert(collider, ground_handle, &mut bodies);
/*
* Rolling ball
@@ -44,11 +44,11 @@ pub fn init_world(testbed: &mut Testbed) {
let mut step = 0;
let snapped_frame = 51;
- testbed.add_callback(move |window, physics, _, graphics, _| {
+ testbed.add_callback(move |_, physics, _, _, _| {
step += 1;
// Snap the ball velocity or restore it.
- let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
+ let ball = physics.bodies.get_mut(ball_handle).unwrap();
if step == snapped_frame {
linvel = *ball.linvel();
diff --git a/examples3d/locked_rotation3.rs b/examples3d/locked_rotations3.rs
index e8aee41..a39895a 100644
--- a/examples3d/locked_rotation3.rs
+++ b/examples3d/locked_rotations3.rs
@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0, 0.0)
.lock_translations()
- .principal_inertia(Vector3::zeros(), Vector3::new(true, false, false))
+ .principal_angular_inertia(Vector3::zeros(), Vector3::new(true, false, false))
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 98ae47a..86a126f 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -646,9 +646,9 @@ impl RigidBodyBuilder {
/// See the documentation of [`RigidBodyBuilder::principal_inertia`] for more details.
pub fn lock_rotations(self) -> Self {
#[cfg(feature = "dim2")]
- return self.principal_inertia(0.0, false);
+ return self.principal_angular_inertia(0.0, false);
#[cfg(feature = "dim3")]
- return self.principal_inertia(Vector::zeros(), Vector::repeat(false));
+ return self.principal_angular_inertia(Vector::zeros(), Vector::repeat(false));
}
/// Sets the mass of the rigid-body being built.
@@ -670,7 +670,6 @@ impl RigidBodyBuilder {
);
self
}
-
/// Sets the angular inertia of this rigid-body.
///
/// In order to lock the rotations of this rigid-body (by
@@ -682,7 +681,11 @@ impl RigidBodyBuilder {
/// will depend on the initial principal inertia set by this method to which is added
/// the contributions of all the colliders with non-zero density attached to this rigid-body.
#[cfg(feature = "dim2")]
- pub fn principal_inertia(mut self, inertia: f32, colliders_contribution_enabled: bool) -> Self {
+ pub fn principal_angular_inertia(
+ mut self,
+ inertia: f32,
+ colliders_contribution_enabled: bool,
+ ) -> Self {
self.mass_properties.inv_principal_inertia_sqrt = utils::inv(inertia);
self.flags.set(
RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X
@@ -693,6 +696,13 @@ impl RigidBodyBuilder {
self
}
+ /// Use `self.principal_angular_inertia` instead.
+ #[cfg(feature = "dim2")]
+ #[deprecated(note = "renamed to `principal_angular_inertia`.")]
+ pub fn principal_inertia(self, inertia: f32, colliders_contribution_enabled: bool) -> Self {
+ self.principal_angular_inertia(inertia, colliders_contribution_enabled)
+ }
+
/// Sets the principal angular inertia of this rigid-body.
///
/// In order to lock the rotations of this rigid-body (by
@@ -706,7 +716,7 @@ impl RigidBodyBuilder {
/// to which is added the contributions of all the colliders with non-zero density
/// attached to this rigid-body.
#[cfg(feature = "dim3")]
- pub fn principal_inertia(
+ pub fn principal_angular_inertia(
mut self,
inertia: AngVector<f32>,
colliders_contribution_enabled: AngVector<bool>,
@@ -727,6 +737,17 @@ impl RigidBodyBuilder {
self
}
+ /// Use `self.principal_angular_inertia` instead.
+ #[cfg(feature = "dim3")]
+ #[deprecated(note = "renamed to `principal_angular_inertia`.")]
+ pub fn principal_inertia(
+ self,
+ inertia: AngVector<f32>,
+ colliders_contribution_enabled: AngVector<bool>,
+ ) -> Self {
+ self.principal_angular_inertia(inertia, colliders_contribution_enabled)
+ }
+
/// Sets the damping factor for the linear part of the rigid-body motion.
///
/// The higher the linear damping factor is, the more quickly the rigid-body
generated by cgit (git 2.34.1) at 2026-01-16 17:30:13 +0000