1 files changed, 14 insertions, 1 deletions
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index af1fb4a..417ce34 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -54,6 +54,8 @@ pub struct RigidBody {
     pub(crate) active_set_timestamp: u32,
     /// The status of the body, governing how it is affected by external forces.
     pub body_status: BodyStatus,
+    /// User-defined data associated to this rigid-body.
+    pub user_data: u128,
 }
 
 impl Clone for RigidBody {
@@ -90,6 +92,7 @@ impl RigidBody {
             active_set_offset: 0,
             active_set_timestamp: 0,
             body_status: BodyStatus::Dynamic,
+            user_data: 0,
         }
     }
 
@@ -218,6 +221,7 @@ impl RigidBody {
         let shift = Translation::from(com.coords);
         shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
     }
+
     pub(crate) fn integrate(&mut self, dt: f32) {
         self.position = self.integrate_velocity(dt) * self.position;
     }
@@ -334,13 +338,14 @@ impl RigidBody {
     }
 }
 
-/// A builder for rigid-bodies.
+/// A builder for rigid-bodies.
 pub struct RigidBodyBuilder {
     position: Isometry<f32>,
     linvel: Vector<f32>,
     angvel: AngVector<f32>,
     body_status: BodyStatus,
     can_sleep: bool,
+    user_data: u128,
 }
 
 impl RigidBodyBuilder {
@@ -352,6 +357,7 @@ impl RigidBodyBuilder {
             angvel: na::zero(),
             body_status,
             can_sleep: true,
+            user_data: 0,
         }
     }
 
@@ -399,6 +405,12 @@ impl RigidBodyBuilder {
         self
     }
 
+    /// An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.
+    pub fn user_data(mut self, data: u128) -> Self {
+        self.user_data = data;
+        self
+    }
+
     /// Sets the initial linear velocity of the rigid-body to be created.
     #[cfg(feature = "dim2")]
     pub fn linvel(mut self, x: f32, y: f32) -> Self {
@@ -433,6 +445,7 @@ impl RigidBodyBuilder {
         rb.linvel = self.linvel;
         rb.angvel = self.angvel;
         rb.body_status = self.body_status;
+        rb.user_data = self.user_data;
 
         if !self.can_sleep {
             rb.activation.threshold = -1.0;