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-rw-r--r--src/dynamics/rigid_body.rs362
1 files changed, 177 insertions, 185 deletions
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 5128b6f..5fb6183 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -2,7 +2,9 @@ use crate::dynamics::MassProperties;
use crate::geometry::{
Collider, ColliderHandle, ColliderSet, InteractionGraph, RigidBodyGraphIndex,
};
-use crate::math::{AngVector, AngularInertia, Isometry, Point, Rotation, Translation, Vector};
+use crate::math::{
+ AngVector, AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector,
+};
use crate::utils::{self, WCross, WDot};
use num::Zero;
@@ -29,10 +31,10 @@ bitflags::bitflags! {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// Flags affecting the behavior of the constraints solver for a given contact manifold.
pub(crate) struct RigidBodyFlags: u8 {
- const IGNORE_COLLIDER_MASS = 1 << 0;
- const IGNORE_COLLIDER_ANGULAR_INERTIA_X = 1 << 1;
- const IGNORE_COLLIDER_ANGULAR_INERTIA_Y = 1 << 2;
- const IGNORE_COLLIDER_ANGULAR_INERTIA_Z = 1 << 3;
+ const TRANSLATION_LOCKED = 1 << 0;
+ const ROTATION_LOCKED_X = 1 << 1;
+ const ROTATION_LOCKED_Y = 1 << 2;
+ const ROTATION_LOCKED_Z = 1 << 3;
}
}
@@ -54,25 +56,29 @@ bitflags::bitflags! {
#[derive(Debug, Clone)]
pub struct RigidBody {
/// The world-space position of the rigid-body.
- pub(crate) position: Isometry<f32>,
- pub(crate) predicted_position: Isometry<f32>,
+ pub(crate) position: Isometry<Real>,
+ pub(crate) predicted_position: Isometry<Real>,
/// The local mass properties of the rigid-body.
pub(crate) mass_properties: MassProperties,
/// The world-space center of mass of the rigid-body.
- pub world_com: Point<f32>,
- /// The square-root of the inverse angular inertia tensor of the rigid-body.
- pub world_inv_inertia_sqrt: AngularInertia<f32>,
+ pub world_com: Point<Real>,
+ /// The inverse mass taking into account translation locking.
+ pub effective_inv_mass: Real,
+ /// The square-root of the world-space inverse angular inertia tensor of the rigid-body,
+ /// taking into account rotation locking.
+ pub effective_world_inv_inertia_sqrt: AngularInertia<Real>,
/// The linear velocity of the rigid-body.
- pub(crate) linvel: Vector<f32>,
+ pub(crate) linvel: Vector<Real>,
/// The angular velocity of the rigid-body.
- pub(crate) angvel: AngVector<f32>,
+ pub(crate) angvel: AngVector<Real>,
/// Damping factor for gradually slowing down the translational motion of the rigid-body.
- pub linear_damping: f32,
+ pub linear_damping: Real,
/// Damping factor for gradually slowing down the angular motion of the rigid-body.
- pub angular_damping: f32,
- pub(crate) linacc: Vector<f32>,
- pub(crate) angacc: AngVector<f32>,
+ pub angular_damping: Real,
+ pub(crate) linacc: Vector<Real>,
+ pub(crate) angacc: AngVector<Real>,
pub(crate) colliders: Vec<ColliderHandle>,
+ pub(crate) gravity_scale: Real,
/// Whether or not this rigid-body is sleeping.
pub activation: ActivationStatus,
pub(crate) joint_graph_index: RigidBodyGraphIndex,
@@ -95,16 +101,18 @@ impl RigidBody {
predicted_position: Isometry::identity(),
mass_properties: MassProperties::zero(),
world_com: Point::origin(),
- world_inv_inertia_sqrt: AngularInertia::zero(),
+ effective_inv_mass: 0.0,
+ effective_world_inv_inertia_sqrt: AngularInertia::zero(),
linvel: Vector::zeros(),
angvel: na::zero(),
linacc: Vector::zeros(),
angacc: na::zero(),
+ gravity_scale: 1.0,
linear_damping: 0.0,
angular_damping: 0.0,
colliders: Vec::new(),
activation: ActivationStatus::new_active(),
- joint_graph_index: InteractionGraph::<()>::invalid_graph_index(),
+ joint_graph_index: InteractionGraph::<(), ()>::invalid_graph_index(),
active_island_id: 0,
active_set_id: 0,
active_set_offset: 0,
@@ -118,22 +126,21 @@ impl RigidBody {
pub(crate) fn reset_internal_references(&mut self) {
self.colliders = Vec::new();
- self.joint_graph_index = InteractionGraph::<()>::invalid_graph_index();
+ self.joint_graph_index = InteractionGraph::<(), ()>::invalid_graph_index();
self.active_island_id = 0;
self.active_set_id = 0;
self.active_set_offset = 0;
self.active_set_timestamp = 0;
}
- pub(crate) fn integrate_accelerations(&mut self, dt: f32, gravity: Vector<f32>) {
- if self.mass_properties.inv_mass != 0.0 {
- self.linvel += (gravity + self.linacc) * dt;
- self.angvel += self.angacc * dt;
-
- // Reset the accelerations.
+ pub(crate) fn integrate_accelerations(&mut self, dt: Real, gravity: Vector<Real>) {
+ if self.effective_inv_mass != 0.0 {
+ self.linvel += (gravity * self.gravity_scale + self.linacc) * dt;
self.linacc = na::zero();
- self.angacc = na::zero();
}
+
+ self.angvel += self.angacc * dt;
+ self.angacc = na::zero();
}
/// The mass properties of this rigid-body.
@@ -184,7 +191,7 @@ impl RigidBody {
/// The mass of this rigid body.
///
/// Returns zero if this rigid body has an infinite mass.
- pub fn mass(&self) -> f32 {
+ pub fn mass(&self) -> Real {
utils::inv(self.mass_properties.inv_mass)
}
@@ -193,10 +200,25 @@ impl RigidBody {
/// If this rigid-body is kinematic this value is set by the `set_next_kinematic_position`
/// method and is used for estimating the kinematic body velocity at the next timestep.
/// For non-kinematic bodies, this value is currently unspecified.
- pub fn predicted_position(&self) -> &Isometry<f32> {
+ pub fn predicted_position(&self) -> &Isometry<Real> {
&self.predicted_position
}
+ /// The scale factor applied to the gravity affecting this rigid-body.
+ pub fn gravity_scale(&self) -> Real {
+ self.gravity_scale
+ }
+
+ /// Sets the gravity scale facter for this rigid-body.
+ pub fn set_gravity_scale(&mut self, scale: Real, wake_up: bool) {
+ if wake_up && self.activation.sleeping {
+ self.changes.insert(RigidBodyChanges::SLEEP);
+ self.activation.sleeping = false;
+ }
+
+ self.gravity_scale = scale;
+ }
+
/// Adds a collider to this rigid-body.
pub(crate) fn add_collider(&mut self, handle: ColliderHandle, coll: &Collider) {
self.changes.set(
@@ -208,40 +230,10 @@ impl RigidBody {
.mass_properties()
.transform_by(coll.position_wrt_parent());
self.colliders.push(handle);
- self.mass_properties += Self::filter_collider_mass_props(mass_properties, self.flags);
+ self.mass_properties += mass_properties;
self.update_world_mass_properties();
}
- fn filter_collider_mass_props(
- mut props: MassProperties,
- flags: RigidBodyFlags,
- ) -> MassProperties {
- if flags.contains(RigidBodyFlags::IGNORE_COLLIDER_MASS) {
- props.inv_mass = 0.0;
- }
-
- #[cfg(feature = "dim2")]
- {
- if flags.contains(RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Z) {
- props.inv_principal_inertia_sqrt = 0.0;
- }
- }
- #[cfg(feature = "dim3")]
- {
- if flags.contains(RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X) {
- props.inv_principal_inertia_sqrt.x = 0.0;
- }
- if flags.contains(RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Y) {
- props.inv_principal_inertia_sqrt.y = 0.0;
- }
- if flags.contains(RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Z) {
- props.inv_principal_inertia_sqrt.z = 0.0;
- }
- }
-
- props
- }
-
pub(crate) fn update_colliders_positions(&mut self, colliders: &mut ColliderSet) {
for handle in &self.colliders {
let collider = &mut colliders[*handle];
@@ -258,7 +250,7 @@ impl RigidBody {
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent());
- self.mass_properties -= Self::filter_collider_mass_props(mass_properties, self.flags);
+ self.mass_properties -= mass_properties;
self.update_world_mass_properties();
}
}
@@ -311,13 +303,13 @@ impl RigidBody {
!self.linvel.is_zero() || !self.angvel.is_zero()
}
- fn integrate_velocity(&self, dt: f32) -> Isometry<f32> {
+ fn integrate_velocity(&self, dt: Real) -> Isometry<Real> {
let com = &self.position * self.mass_properties.local_com;
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) {
+ pub(crate) fn integrate(&mut self, dt: Real) {
// TODO: do we want to apply damping before or after the velocity integration?
self.linvel *= 1.0 / (1.0 + dt * self.linear_damping);
self.angvel *= 1.0 / (1.0 + dt * self.angular_damping);
@@ -326,19 +318,19 @@ impl RigidBody {
}
/// The linear velocity of this rigid-body.
- pub fn linvel(&self) -> &Vector<f32> {
+ pub fn linvel(&self) -> &Vector<Real> {
&self.linvel
}
/// The angular velocity of this rigid-body.
#[cfg(feature = "dim2")]
- pub fn angvel(&self) -> f32 {
+ pub fn angvel(&self) -> Real {
self.angvel
}
/// The angular velocity of this rigid-body.
#[cfg(feature = "dim3")]
- pub fn angvel(&self) -> &Vector<f32> {
+ pub fn angvel(&self) -> &Vector<Real> {
&self.angvel
}
@@ -346,7 +338,7 @@ impl RigidBody {
///
/// If `wake_up` is `true` then the rigid-body will be woken up if it was
/// put to sleep because it did not move for a while.
- pub fn set_linvel(&mut self, linvel: Vector<f32>, wake_up: bool) {
+ pub fn set_linvel(&mut self, linvel: Vector<Real>, wake_up: bool) {
self.linvel = linvel;
if self.is_dynamic() && wake_up {
@@ -359,7 +351,7 @@ impl RigidBody {
/// If `wake_up` is `true` then the rigid-body will be woken up if it was
/// put to sleep because it did not move for a while.
#[cfg(feature = "dim2")]
- pub fn set_angvel(&mut self, angvel: f32, wake_up: bool) {
+ pub fn set_angvel(&mut self, angvel: Real, wake_up: bool) {
self.angvel = angvel;
if self.is_dynamic() && wake_up {
@@ -372,7 +364,7 @@ impl RigidBody {
/// If `wake_up` is `true` then the rigid-body will be woken up if it was
/// put to sleep because it did not move for a while.
#[cfg(feature = "dim3")]
- pub fn set_angvel(&mut self, angvel: Vector<f32>, wake_up: bool) {
+ pub fn set_angvel(&mut self, angvel: Vector<Real>, wake_up: bool) {
self.angvel = angvel;
if self.is_dynamic() && wake_up {
@@ -381,7 +373,7 @@ impl RigidBody {
}
/// The world-space position of this rigid-body.
- pub fn position(&self) -> &Isometry<f32> {
+ pub fn position(&self) -> &Isometry<Real> {
&self.position
}
@@ -394,7 +386,7 @@ impl RigidBody {
///
/// If `wake_up` is `true` then the rigid-body will be woken up if it was
/// put to sleep because it did not move for a while.
- pub fn set_position(&mut self, pos: Isometry<f32>, wake_up: bool) {
+ pub fn set_position(&mut self, pos: Isometry<Real>, wake_up: bool) {
self.changes.insert(RigidBodyChanges::POSITION);
self.set_position_internal(pos);
@@ -404,7 +396,7 @@ impl RigidBody {
}
}
- pub(crate) fn set_position_internal(&mut self, pos: Isometry<f32>) {
+ pub(crate) fn set_position_internal(&mut self, pos: Isometry<Real>) {
self.position = pos;
// TODO: update the predicted position for dynamic bodies too?
@@ -414,13 +406,13 @@ impl RigidBody {
}
/// If this rigid body is kinematic, sets its future position after the next timestep integration.
- pub fn set_next_kinematic_position(&mut self, pos: Isometry<f32>) {
+ pub fn set_next_kinematic_position(&mut self, pos: Isometry<Real>) {
if self.is_kinematic() {
self.predicted_position = pos;
}
}
- pub(crate) fn compute_velocity_from_predicted_position(&mut self, inv_dt: f32) {
+ pub(crate) fn compute_velocity_from_predicted_position(&mut self, inv_dt: Real) {
let dpos = self.predicted_position * self.position.inverse();
#[cfg(feature = "dim2")]
{
@@ -433,24 +425,56 @@ impl RigidBody {
self.linvel = dpos.translation.vector * inv_dt;
}
- pub(crate) fn update_predicted_position(&mut self, dt: f32) {
+ pub(crate) fn update_predicted_position(&mut self, dt: Real) {
self.predicted_position = self.integrate_velocity(dt) * self.position;
}
pub(crate) fn update_world_mass_properties(&mut self) {
self.world_com = self.mass_properties.world_com(&self.position);
- self.world_inv_inertia_sqrt = self
+ self.effective_inv_mass = self.mass_properties.inv_mass;
+ self.effective_world_inv_inertia_sqrt = self
.mass_properties
.world_inv_inertia_sqrt(&self.position.rotation);
+
+ // Take into account translation/rotation locking.
+ if self.flags.contains(RigidBodyFlags::TRANSLATION_LOCKED) {
+ self.effective_inv_mass = 0.0;
+ }
+
+ #[cfg(feature = "dim2")]
+ {
+ if self.flags.contains(RigidBodyFlags::ROTATION_LOCKED_Z) {
+ self.effective_world_inv_inertia_sqrt = 0.0;
+ }
+ }
+ #[cfg(feature = "dim3")]
+ {
+ if self.flags.contains(RigidBodyFlags::ROTATION_LOCKED_X) {
+ self.effective_world_inv_inertia_sqrt.m11 = 0.0;
+ self.effective_world_inv_inertia_sqrt.m12 = 0.0;
+ self.effective_world_inv_inertia_sqrt.m13 = 0.0;
+ }
+
+ if self.flags.contains(RigidBodyFlags::ROTATION_LOCKED_Y) {
+ self.effective_world_inv_inertia_sqrt.m22 = 0.0;
+ self.effective_world_inv_inertia_sqrt.m12 = 0.0;
+ self.effective_world_inv_inertia_sqrt.m23 = 0.0;
+ }
+ if self.flags.contains(RigidBodyFlags::ROTATION_LOCKED_Z) {
+ self.effective_world_inv_inertia_sqrt.m33 = 0.0;
+ self.effective_world_inv_inertia_sqrt.m13 = 0.0;
+ self.effective_world_inv_inertia_sqrt.m23 = 0.0;
+ }
+ }
}
/*
* Application of forces/impulses.
*/
/// Applies a force at the center-of-mass of this rigid-body.
- pub fn apply_force(&mut self, force: Vector<f32>, wake_up: bool) {
+ pub fn apply_force(&mut self, force: Vector<Real>, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
- self.linacc += force * self.mass_properties.inv_mass;
+ self.linacc += force * self.effective_inv_mass;
if wake_up {
self.wake_up(true);
@@ -459,9 +483,9 @@ impl RigidBody {
}
/// Applies an impulse at the center-of-mass of this rigid-body.
- pub fn apply_impulse(&mut self, impulse: Vector<f32>, wake_up: bool) {
+ pub fn apply_impulse(&mut self, impulse: Vector<Real>, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
- self.linvel += impulse * self.mass_properties.inv_mass;
+ self.linvel += impulse * self.effective_inv_mass;
if wake_up {
self.wake_up(true);
@@ -471,9 +495,10 @@ impl RigidBody {
/// Applies a torque at the center-of-mass of this rigid-body.
#[cfg(feature = "dim2")]
- pub fn apply_torque(&mut self, torque: f32, wake_up: bool) {
+ pub fn apply_torque(&mut self, torque: Real, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
- self.angacc += self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque);
+ self.angacc += self.effective_world_inv_inertia_sqrt
+ * (self.effective_world_inv_inertia_sqrt * torque);
if wake_up {
self.wake_up(true);
@@ -483,9 +508,10 @@ impl RigidBody {
/// Applies a torque at the center-of-mass of this rigid-body.
#[cfg(feature = "dim3")]
- pub fn apply_torque(&mut self, torque: Vector<f32>, wake_up: bool) {
+ pub fn apply_torque(&mut self, torque: Vector<Real>, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
- self.angacc += self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque);
+ self.angacc += self.effective_world_inv_inertia_sqrt
+ * (self.effective_world_inv_inertia_sqrt * torque);
if wake_up {
self.wake_up(true);
@@ -495,10 +521,10 @@ impl RigidBody {
/// Applies an impulsive torque at the center-of-mass of this rigid-body.
#[cfg(feature = "dim2")]
- pub fn apply_torque_impulse(&mut self, torque_impulse: f32, wake_up: bool) {
+ pub fn apply_torque_impulse(&mut self, torque_impulse: Real, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
- self.angvel +=
- self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque_impulse);
+ self.angvel += self.effective_world_inv_inertia_sqrt
+ * (self.effective_world_inv_inertia_sqrt * torque_impulse);
if wake_up {
self.wake_up(true);
@@ -508,10 +534,10 @@ impl RigidBody {
/// Applies an impulsive torque at the center-of-mass of this rigid-body.
#[cfg(feature = "dim3")]
- pub fn apply_torque_impulse(&mut self, torque_impulse: Vector<f32>, wake_up: bool) {
+ pub fn apply_torque_impulse(&mut self, torque_impulse: Vector<Real>, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
- self.angvel +=
- self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque_impulse);
+ self.angvel += self.effective_world_inv_inertia_sqrt
+ * (self.effective_world_inv_inertia_sqrt * torque_impulse);
if wake_up {
self.wake_up(true);
@@ -520,7 +546,7 @@ impl RigidBody {
}
/// Applies a force at the given world-space point of this rigid-body.
- pub fn apply_force_at_point(&mut self, force: Vector<f32>, point: Point<f32>, wake_up: bool) {
+ pub fn apply_force_at_point(&mut self, force: Vector<Real>, point: Point<Real>, wake_up: bool) {
let torque = (point - self.world_com).gcross(force);
self.apply_force(force, wake_up);
self.apply_torque(torque, wake_up);
@@ -529,8 +555,8 @@ impl RigidBody {
/// Applies an impulse at the given world-space point of this rigid-body.
pub fn apply_impulse_at_point(
&mut self,
- impulse: Vector<f32>,
- point: Point<f32>,
+ impulse: Vector<Real>,
+ point: Point<Real>,
wake_up: bool,
) {
let torque_impulse = (point - self.world_com).gcross(impulse);
@@ -539,7 +565,7 @@ impl RigidBody {
}
/// The velocity of the given world-space point on this rigid-body.
- pub fn velocity_at_point(&self, point: &Point<f32>) -> Vector<f32> {
+ pub fn velocity_at_point(&self, point: &Point<Real>) -> Vector<Real> {
let dpt = point - self.world_com;
self.linvel + self.angvel.gcross(dpt)
}
@@ -547,11 +573,12 @@ impl RigidBody {
/// A builder for rigid-bodies.
pub struct RigidBodyBuilder {
- position: Isometry<f32>,
- linvel: Vector<f32>,
- angvel: AngVector<f32>,
- linear_damping: f32,
- angular_damping: f32,
+ position: Isometry<Real>,
+ linvel: Vector<Real>,
+ angvel: AngVector<Real>,
+ gravity_scale: Real,
+ linear_damping: Real,
+ angular_damping: Real,
body_status: BodyStatus,
flags: RigidBodyFlags,
mass_properties: MassProperties,
@@ -567,6 +594,7 @@ impl RigidBodyBuilder {
position: Isometry::identity(),
linvel: Vector::zeros(),
angvel: na::zero(),
+ gravity_scale: 1.0,
linear_damping: 0.0,
angular_damping: 0.0,
body_status,
@@ -593,9 +621,15 @@ impl RigidBodyBuilder {
Self::new(BodyStatus::Dynamic)
}
+ /// Sets the scale applied to the gravity force affecting the rigid-body to be created.
+ pub fn gravity_scale(mut self, x: Real) -> Self {
+ self.gravity_scale = x;
+ self
+ }
+
/// Sets the initial translation of the rigid-body to be created.
#[cfg(feature = "dim2")]
- pub fn translation(mut self, x: f32, y: f32) -> Self {
+ pub fn translation(mut self, x: Real, y: Real) -> Self {
self.position.translation.x = x;
self.position.translation.y = y;
self
@@ -603,7 +637,7 @@ impl RigidBodyBuilder {
/// Sets the initial translation of the rigid-body to be created.
#[cfg(feature = "dim3")]
- pub fn translation(mut self, x: f32, y: f32, z: f32) -> Self {
+ pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
self.position.translation.x = x;
self.position.translation.y = y;
self.position.translation.z = z;
@@ -611,13 +645,13 @@ impl RigidBodyBuilder {
}
/// Sets the initial orientation of the rigid-body to be created.
- pub fn rotation(mut self, angle: AngVector<f32>) -> Self {
+ pub fn rotation(mut self, angle: AngVector<Real>) -> Self {
self.position.rotation = Rotation::new(angle);
self
}
/// Sets the initial position (translation and orientation) of the rigid-body to be created.
- pub fn position(mut self, pos: Isometry<f32>) -> Self {
+ pub fn position(mut self, pos: Isometry<Real>) -> Self {
self.position = pos;
self
}
@@ -644,76 +678,53 @@ impl RigidBodyBuilder {
}
/// Prevents this rigid-body from translating because of forces.
- ///
- /// This is equivalent to `self.mass(0.0, false)`. See the
- /// documentation of [`RigidBodyBuilder::mass`] for more details.
- pub fn lock_translations(self) -> Self {
- self.mass(0.0, false)
+ pub fn lock_translations(mut self) -> Self {
+ self.flags.set(RigidBodyFlags::TRANSLATION_LOCKED, true);
+ self
}
/// Prevents this rigid-body from rotating because of forces.
- ///
- /// This is equivalent to `self.principal_inertia(0.0, false)` (in 2D) or
- /// `self.principal_inertia(Vector3::zeros(), Vector3::repeat(false))` (in 3D).
- ///
- /// See the documentation of [`RigidBodyBuilder::principal_inertia`] for more details.
- pub fn lock_rotations(self) -> Self {
- #[cfg(feature = "dim2")]
- return self.principal_angular_inertia(0.0, false);
- #[cfg(feature = "dim3")]
- return self.principal_angular_inertia(Vector::zeros(), Vector::repeat(false));
+ pub fn lock_rotations(mut self) -> Self {
+ self.flags.set(RigidBodyFlags::ROTATION_LOCKED_X, true);
+ self.flags.set(RigidBodyFlags::ROTATION_LOCKED_Y, true);
+ self.flags.set(RigidBodyFlags::ROTATION_LOCKED_Z, true);
+ self
+ }
+
+ /// Only allow rotations of this rigid-body around specific coordinate axes.
+ #[cfg(feature = "dim3")]
+ pub fn restrict_rotations(
+ mut self,
+ allow_rotations_x: bool,
+ allow_rotations_y: bool,
+ allow_rotations_z: bool,
+ ) -> Self {
+ self.flags
+ .set(RigidBodyFlags::ROTATION_LOCKED_X, !allow_rotations_x);
+ self.flags
+ .set(RigidBodyFlags::ROTATION_LOCKED_Y, !allow_rotations_y);
+ self.flags
+ .set(RigidBodyFlags::ROTATION_LOCKED_Z, !allow_rotations_z);
+ self
}
/// Sets the mass of the rigid-body being built.
- ///
- /// In order to lock the translations of this rigid-body (by
- /// making them kinematic), call `.mass(0.0, false)`.
- ///
- /// If `colliders_contribution_enabled` is `false`, then the mass specified here
- /// will be the final mass of the rigid-body created by this builder.
- /// If `colliders_contribution_enabled` is `true`, then the final mass of the rigid-body
- /// will depends on the initial mass set by this method to which is added
- /// the contributions of all the colliders with non-zero density attached to
- /// this rigid-body.
- pub fn mass(mut self, mass: f32, colliders_contribution_enabled: bool) -> Self {
+ pub fn mass(mut self, mass: Real) -> Self {
self.mass_properties.inv_mass = utils::inv(mass);
- self.flags.set(
- RigidBodyFlags::IGNORE_COLLIDER_MASS,
- !colliders_contribution_enabled,
- );
self
}
/// Sets the angular inertia of this rigid-body.
- ///
- /// In order to lock the rotations of this rigid-body (by
- /// making them kinematic), call `.principal_inertia(0.0, false)`.
- ///
- /// If `colliders_contribution_enabled` is `false`, then the principal inertia specified here
- /// will be the final principal inertia of the rigid-body created by this builder.
- /// If `colliders_contribution_enabled` is `true`, then the final principal of the rigid-body
- /// 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_angular_inertia(
- mut self,
- inertia: f32,
- colliders_contribution_enabled: bool,
- ) -> Self {
+ pub fn principal_angular_inertia(mut self, inertia: Real) -> Self {
self.mass_properties.inv_principal_inertia_sqrt = utils::inv(inertia);
- self.flags.set(
- RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X
- | RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Y
- | RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Z,
- !colliders_contribution_enabled,
- );
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)
+ pub fn principal_inertia(self, inertia: Real) -> Self {
+ self.principal_angular_inertia(inertia)
}
/// Sets the principal angular inertia of this rigid-body.
@@ -729,43 +740,23 @@ 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_angular_inertia(
- mut self,
- inertia: AngVector<f32>,
- colliders_contribution_enabled: AngVector<bool>,
- ) -> Self {
+ pub fn principal_angular_inertia(mut self, inertia: AngVector<Real>) -> Self {
self.mass_properties.inv_principal_inertia_sqrt = inertia.map(utils::inv);
- self.flags.set(
- RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X,
- !colliders_contribution_enabled.x,
- );
- self.flags.set(
- RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Y,
- !colliders_contribution_enabled.y,
- );
- self.flags.set(
- RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Z,
- !colliders_contribution_enabled.z,
- );
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)
+ pub fn principal_inertia(self, inertia: AngVector<Real>) -> Self {
+ self.principal_angular_inertia(inertia)
}
/// 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
/// will slow-down its translational movement.
- pub fn linear_damping(mut self, factor: f32) -> Self {
+ pub fn linear_damping(mut self, factor: Real) -> Self {
self.linear_damping = factor;
self
}
@@ -774,27 +765,27 @@ impl RigidBodyBuilder {
///
/// The higher the angular damping factor is, the more quickly the rigid-body
/// will slow-down its rotational movement.
- pub fn angular_damping(mut self, factor: f32) -> Self {
+ pub fn angular_damping(mut self, factor: Real) -> Self {
self.angular_damping = factor;
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 {
+ pub fn linvel(mut self, x: Real, y: Real) -> Self {
self.linvel = Vector::new(x, y);
self
}
/// Sets the initial linear velocity of the rigid-body to be created.
#[cfg(feature = "dim3")]
- pub fn linvel(mut self, x: f32, y: f32, z: f32) -> Self {
+ pub fn linvel(mut self, x: Real, y: Real, z: Real) -> Self {
self.linvel = Vector::new(x, y, z);
self
}
/// Sets the initial angular velocity of the rigid-body to be created.
- pub fn angvel(mut self, angvel: AngVector<f32>) -> Self {
+ pub fn angvel(mut self, angvel: AngVector<Real>) -> Self {
self.angvel = angvel;
self
}
@@ -823,6 +814,7 @@ impl RigidBodyBuilder {
rb.mass_properties = self.mass_properties;
rb.linear_damping = self.linear_damping;
rb.angular_damping = self.angular_damping;
+ rb.gravity_scale = self.gravity_scale;
rb.flags = self.flags;
if self.can_sleep && self.sleeping {
@@ -845,16 +837,16 @@ impl RigidBodyBuilder {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct ActivationStatus {
/// The threshold pseudo-kinetic energy bellow which the body can fall asleep.
- pub threshold: f32,
+ pub threshold: Real,
/// The current pseudo-kinetic energy of the body.
- pub energy: f32,
+ pub energy: Real,
/// Is this body already sleeping?
pub sleeping: bool,
}
impl ActivationStatus {
/// The default amount of energy bellow which a body can be put to sleep by nphysics.
- pub fn default_threshold() -> f32 {
+ pub fn default_threshold() -> Real {
0.01
}
generated by cgit (git 2.34.1) at 2026-02-12 00:37:00 +0000