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-rw-r--r--src/dynamics/mass_properties.rs4
-rw-r--r--src/dynamics/mass_properties_capsule.rs23
-rw-r--r--src/dynamics/mass_properties_cone.rs29
-rw-r--r--src/dynamics/mass_properties_cylinder.rs40
-rw-r--r--src/dynamics/mass_properties_polygon.rs2
-rw-r--r--src/dynamics/mod.rs3
-rw-r--r--src/dynamics/rigid_body.rs15
7 files changed, 91 insertions, 25 deletions
diff --git a/src/dynamics/mass_properties.rs b/src/dynamics/mass_properties.rs
index 22e7da5..d64839c 100644
--- a/src/dynamics/mass_properties.rs
+++ b/src/dynamics/mass_properties.rs
@@ -91,7 +91,7 @@ impl MassProperties {
}
#[cfg(feature = "dim3")]
- /// Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axii.
+ /// Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axes.
pub fn reconstruct_inverse_inertia_matrix(&self) -> Matrix3<f32> {
let inv_principal_inertia = self.inv_principal_inertia_sqrt.map(|e| e * e);
self.principal_inertia_local_frame.to_rotation_matrix()
@@ -103,7 +103,7 @@ impl MassProperties {
}
#[cfg(feature = "dim3")]
- /// Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axii.
+ /// Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axes.
pub fn reconstruct_inertia_matrix(&self) -> Matrix3<f32> {
let principal_inertia = self.inv_principal_inertia_sqrt.map(|e| utils::inv(e * e));
self.principal_inertia_local_frame.to_rotation_matrix()
diff --git a/src/dynamics/mass_properties_capsule.rs b/src/dynamics/mass_properties_capsule.rs
index 5f08958..3b1b214 100644
--- a/src/dynamics/mass_properties_capsule.rs
+++ b/src/dynamics/mass_properties_capsule.rs
@@ -1,30 +1,9 @@
use crate::dynamics::MassProperties;
#[cfg(feature = "dim3")]
use crate::geometry::Capsule;
-use crate::math::{Point, PrincipalAngularInertia, Vector};
+use crate::math::Point;
impl MassProperties {
- fn cylinder_y_volume_unit_inertia(
- half_height: f32,
- radius: f32,
- ) -> (f32, PrincipalAngularInertia<f32>) {
- #[cfg(feature = "dim2")]
- {
- Self::cuboid_volume_unit_inertia(Vector::new(radius, half_height))
- }
-
- #[cfg(feature = "dim3")]
- {
- let volume = half_height * radius * radius * std::f32::consts::PI * 2.0;
- let sq_radius = radius * radius;
- let sq_height = half_height * half_height * 4.0;
- let off_principal = (sq_radius * 3.0 + sq_height) / 12.0;
-
- let inertia = Vector::new(off_principal, sq_radius / 2.0, off_principal);
- (volume, inertia)
- }
- }
-
pub(crate) fn from_capsule(density: f32, a: Point<f32>, b: Point<f32>, radius: f32) -> Self {
let half_height = (b - a).norm() / 2.0;
let (cyl_vol, cyl_unit_i) = Self::cylinder_y_volume_unit_inertia(half_height, radius);
diff --git a/src/dynamics/mass_properties_cone.rs b/src/dynamics/mass_properties_cone.rs
new file mode 100644
index 0000000..12f831f
--- /dev/null
+++ b/src/dynamics/mass_properties_cone.rs
@@ -0,0 +1,29 @@
+use crate::dynamics::MassProperties;
+use crate::math::{Point, PrincipalAngularInertia, Rotation, Vector};
+
+impl MassProperties {
+ pub(crate) fn cone_y_volume_unit_inertia(
+ half_height: f32,
+ radius: f32,
+ ) -> (f32, PrincipalAngularInertia<f32>) {
+ let volume = radius * radius * std::f32::consts::PI * half_height * 2.0 / 3.0;
+ let sq_radius = radius * radius;
+ let sq_height = half_height * half_height * 4.0;
+ let off_principal = sq_radius * 3.0 / 20.0 + sq_height * 3.0 / 5.0;
+ let principal = sq_radius * 3.0 / 10.0;
+
+ (volume, Vector::new(off_principal, principal, off_principal))
+ }
+
+ pub(crate) fn from_cone(density: f32, half_height: f32, radius: f32) -> Self {
+ let (cyl_vol, cyl_unit_i) = Self::cone_y_volume_unit_inertia(half_height, radius);
+ let cyl_mass = cyl_vol * density;
+
+ Self::with_principal_inertia_frame(
+ Point::new(0.0, -half_height / 2.0, 0.0),
+ cyl_mass,
+ cyl_unit_i * cyl_mass,
+ Rotation::identity(),
+ )
+ }
+}
diff --git a/src/dynamics/mass_properties_cylinder.rs b/src/dynamics/mass_properties_cylinder.rs
new file mode 100644
index 0000000..7c8054a
--- /dev/null
+++ b/src/dynamics/mass_properties_cylinder.rs
@@ -0,0 +1,40 @@
+use crate::dynamics::MassProperties;
+#[cfg(feature = "dim3")]
+use crate::math::{Point, Rotation};
+use crate::math::{PrincipalAngularInertia, Vector};
+
+impl MassProperties {
+ pub(crate) fn cylinder_y_volume_unit_inertia(
+ half_height: f32,
+ radius: f32,
+ ) -> (f32, PrincipalAngularInertia<f32>) {
+ #[cfg(feature = "dim2")]
+ {
+ Self::cuboid_volume_unit_inertia(Vector::new(radius, half_height))
+ }
+
+ #[cfg(feature = "dim3")]
+ {
+ let volume = half_height * radius * radius * std::f32::consts::PI * 2.0;
+ let sq_radius = radius * radius;
+ let sq_height = half_height * half_height * 4.0;
+ let off_principal = (sq_radius * 3.0 + sq_height) / 12.0;
+
+ let inertia = Vector::new(off_principal, sq_radius / 2.0, off_principal);
+ (volume, inertia)
+ }
+ }
+
+ #[cfg(feature = "dim3")]
+ pub(crate) fn from_cylinder(density: f32, half_height: f32, radius: f32) -> Self {
+ let (cyl_vol, cyl_unit_i) = Self::cylinder_y_volume_unit_inertia(half_height, radius);
+ let cyl_mass = cyl_vol * density;
+
+ Self::with_principal_inertia_frame(
+ Point::origin(),
+ cyl_mass,
+ cyl_unit_i * cyl_mass,
+ Rotation::identity(),
+ )
+ }
+}
diff --git a/src/dynamics/mass_properties_polygon.rs b/src/dynamics/mass_properties_polygon.rs
index c87e888..8b0b811 100644
--- a/src/dynamics/mass_properties_polygon.rs
+++ b/src/dynamics/mass_properties_polygon.rs
@@ -1,3 +1,5 @@
+#![allow(dead_code)] // TODO: remove this
+
use crate::dynamics::MassProperties;
use crate::math::Point;
diff --git a/src/dynamics/mod.rs b/src/dynamics/mod.rs
index 4499d95..10cdd29 100644
--- a/src/dynamics/mod.rs
+++ b/src/dynamics/mod.rs
@@ -22,7 +22,10 @@ mod joint;
mod mass_properties;
mod mass_properties_ball;
mod mass_properties_capsule;
+#[cfg(feature = "dim3")]
+mod mass_properties_cone;
mod mass_properties_cuboid;
+mod mass_properties_cylinder;
#[cfg(feature = "dim2")]
mod mass_properties_polygon;
mod rigid_body;
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;
generated by cgit (git 2.34.1) at 2026-02-07 00:27:29 +0000