diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/rigid_body.rs | 88 | ||||
| -rw-r--r-- | src/dynamics/rigid_body_set.rs | 2 | ||||
| -rw-r--r-- | src/dynamics/solver/parallel_island_solver.rs | 2 | ||||
| -rw-r--r-- | src/dynamics/solver/position_solver.rs | 2 | ||||
| -rw-r--r-- | src/geometry/collider_set.rs | 9 | ||||
| -rw-r--r-- | src/geometry/shape.rs | 2 | ||||
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 23 |
7 files changed, 107 insertions, 21 deletions
diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 303d1a0..4783cfc 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -30,7 +30,7 @@ pub enum BodyStatus { #[derive(Debug, Clone)] pub struct RigidBody { /// The world-space position of the rigid-body. - pub position: Isometry<f32>, + pub(crate) position: Isometry<f32>, pub(crate) predicted_position: Isometry<f32>, /// The local mass properties of the rigid-body. pub mass_properties: MassProperties, @@ -39,9 +39,9 @@ pub struct RigidBody { /// The square-root of the inverse angular inertia tensor of the rigid-body. pub world_inv_inertia_sqrt: AngularInertia<f32>, /// The linear velocity of the rigid-body. - pub linvel: Vector<f32>, + pub(crate) linvel: Vector<f32>, /// The angular velocity of the rigid-body. - pub angvel: AngVector<f32>, + pub(crate) angvel: AngVector<f32>, /// Damping factor for gradually slowing down the translational motion of the rigid-body. pub linear_damping: f32, /// Damping factor for gradually slowing down the angular motion of the rigid-body. @@ -231,18 +231,84 @@ impl RigidBody { self.position = self.integrate_velocity(dt) * self.position; } + /// The linear velocity of this rigid-body. + pub fn linvel(&self) -> &Vector<f32> { + &self.linvel + } + + /// The angular velocity of this rigid-body. + #[cfg(feature = "dim2")] + pub fn angvel(&self) -> f32 { + self.angvel + } + + /// The angular velocity of this rigid-body. + #[cfg(feature = "dim3")] + pub fn angvel(&self) -> &Vector<f32> { + &self.angvel + } + + /// The linear velocity of this rigid-body. + /// + /// 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) { + self.linvel = linvel; + + if self.is_dynamic() && wake_up { + self.wake_up(true) + } + } + + /// The angular velocity of this rigid-body. + /// + /// 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) { + self.angvel = angvel; + + if self.is_dynamic() && wake_up { + self.wake_up(true) + } + } + + /// The angular velocity of this rigid-body. + /// + /// 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) { + self.angvel = angvel; + + if self.is_dynamic() && wake_up { + self.wake_up(true) + } + } + + /// The world-space position of this rigid-body. + pub fn position(&self) -> &Isometry<f32> { + &self.position + } + /// Sets the position and `next_kinematic_position` of this rigid body. /// /// This will teleport the rigid-body to the specified position/orientation, /// completely ignoring any physics rule. If this body is kinematic, this will /// also set the next kinematic position to the same value, effectively /// resetting to zero the next interpolated velocity of the kinematic body. - pub fn set_position(&mut self, pos: Isometry<f32>) { + /// + /// 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) { self.position = pos; // TODO: update the predicted position for dynamic bodies too? if self.is_static() || self.is_kinematic() { self.predicted_position = pos; + } else if wake_up { + // wake_up is true and the rigid-body is dynamic. + self.wake_up(true); } } @@ -388,6 +454,7 @@ pub struct RigidBodyBuilder { body_status: BodyStatus, mass_properties: MassProperties, can_sleep: bool, + sleeping: bool, user_data: u128, } @@ -403,6 +470,7 @@ impl RigidBodyBuilder { body_status, mass_properties: MassProperties::zero(), can_sleep: true, + sleeping: false, user_data: 0, } } @@ -531,11 +599,17 @@ impl RigidBodyBuilder { self } + /// Sets whether or not the rigid-body is to be created asleep. + pub fn sleeping(mut self, sleeping: bool) -> Self { + self.sleeping = sleeping; + self + } + /// Build a new rigid-body with the parameters configured with this builder. pub fn build(&self) -> RigidBody { let mut rb = RigidBody::new(); rb.predicted_position = self.position; // FIXME: compute the correct value? - rb.set_position(self.position); + rb.set_position(self.position, false); rb.linvel = self.linvel; rb.angvel = self.angvel; rb.body_status = self.body_status; @@ -544,6 +618,10 @@ impl RigidBodyBuilder { rb.linear_damping = self.linear_damping; rb.angular_damping = self.angular_damping; + if self.can_sleep && self.sleeping { + rb.sleep(); + } + if !self.can_sleep { rb.activation.threshold = -1.0; } diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs index b857173..ec4d388 100644 --- a/src/dynamics/rigid_body_set.rs +++ b/src/dynamics/rigid_body_set.rs @@ -207,7 +207,7 @@ impl RigidBodySet { * Remove colliders attached to this rigid-body. */ for collider in &rb.colliders { - colliders.remove(*collider, self); + colliders.remove(*collider, self, false); } /* diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs index edbfa40..dd5e535 100644 --- a/src/dynamics/solver/parallel_island_solver.rs +++ b/src/dynamics/solver/parallel_island_solver.rs @@ -250,7 +250,7 @@ impl ParallelIslandSolver { let batch_size = thread.batch_size; for handle in active_bodies[thread.position_writeback_index] { let rb = &mut bodies[*handle]; - rb.set_position(positions[rb.active_set_offset]); + rb.set_position(positions[rb.active_set_offset], false); } } }) diff --git a/src/dynamics/solver/position_solver.rs b/src/dynamics/solver/position_solver.rs index 2cfd629..dac1d9e 100644 --- a/src/dynamics/solver/position_solver.rs +++ b/src/dynamics/solver/position_solver.rs @@ -120,7 +120,7 @@ impl PositionSolver { } bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| { - rb.set_position(self.positions[rb.active_set_offset]) + rb.set_position(self.positions[rb.active_set_offset], false) }); } } diff --git a/src/geometry/collider_set.rs b/src/geometry/collider_set.rs index fd94675..60b9225 100644 --- a/src/geometry/collider_set.rs +++ b/src/geometry/collider_set.rs @@ -78,10 +78,14 @@ impl ColliderSet { } /// Remove a collider from this set and update its parent accordingly. + /// + /// If `wake_up` is `true`, the rigid-body the removed collider is attached to + /// will be woken up. pub fn remove( &mut self, handle: ColliderHandle, bodies: &mut RigidBodySet, + wake_up: bool, ) -> Option<Collider> { let collider = self.colliders.remove(handle)?; @@ -90,7 +94,10 @@ impl ColliderSet { */ if let Some(parent) = bodies.get_mut_internal(collider.parent) { parent.remove_collider_internal(handle, &collider); - bodies.wake_up(collider.parent, true); + + if wake_up { + bodies.wake_up(collider.parent, true); + } } /* diff --git a/src/geometry/shape.rs b/src/geometry/shape.rs index 5c96f68..66840a0 100644 --- a/src/geometry/shape.rs +++ b/src/geometry/shape.rs @@ -18,7 +18,7 @@ use { /// Enum representing the type of a shape. pub enum ShapeType { /// A ball shape. - Ball = 1, + Ball = 0, /// A convex polygon shape. Polygon, /// A cuboid shape. diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs index c21574a..665fee8 100644 --- a/src/pipeline/query_pipeline.rs +++ b/src/pipeline/query_pipeline.rs @@ -72,17 +72,18 @@ impl QueryPipeline { let mut result = None; for handle in inter { - let collider = &colliders[handle]; - if collider.collision_groups.test(groups) { - if let Some(inter) = collider.shape().toi_and_normal_with_ray( - collider.position(), - ray, - max_toi, - true, - ) { - if inter.toi < best { - best = inter.toi; - result = Some((handle, collider, inter)); + if let Some(collider) = colliders.get(handle) { + if collider.collision_groups.test(groups) { + if let Some(inter) = collider.shape().toi_and_normal_with_ray( + collider.position(), + ray, + max_toi, + true, + ) { + if inter.toi < best { + best = inter.toi; + result = Some((handle, collider, inter)); + } } } } |