diff options
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody_joint_set.rs | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs index 748530f..06dff5d 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs @@ -299,10 +299,20 @@ impl MultibodyJointSet { } /// Gets a mutable reference to the multibody identified by its `handle`. + pub fn get_mut(&mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)> { + let link = self.rb2mb.get(handle.0)?; + let multibody = self.multibodies.get_mut(link.multibody.0)?; + Some((multibody, link.id)) + } + + /// Gets a mutable reference to the multibody identified by its `handle`. + /// + /// This method will bypass any modification-detection automatically done by the MultibodyJointSet. pub fn get_mut_internal( &mut self, handle: MultibodyJointHandle, ) -> Option<(&mut Multibody, usize)> { + // TODO: modification tracking? let link = self.rb2mb.get(handle.0)?; let multibody = self.multibodies.get_mut(link.multibody.0)?; Some((multibody, link.id)) |