diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/geometry/collider.rs | 28 |
1 files changed, 21 insertions, 7 deletions
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 1b9853c..9f2cd2b 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -174,16 +174,30 @@ impl Collider { self.co_parent.as_ref().map(|p| &p.pos_wrt_parent) } + /// Sets the translational part of this collider's translation relative to its parent rigid-body. + pub fn set_translation_wrt_parent(&mut self, translation: Vector<Real>) { + if let Some(co_parent) = self.co_parent.as_mut() { + self.co_changes.insert(ColliderChanges::PARENT); + co_parent.pos_wrt_parent.translation.vector = translation; + } + } + + /// Sets the rotational part of this collider's rotaiton relative to its parent rigid-body. + pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector<Real>) { + if let Some(co_parent) = self.co_parent.as_mut() { + self.co_changes.insert(ColliderChanges::PARENT); + co_parent.pos_wrt_parent.rotation = Rotation::new(rotation); + } + } + /// Sets the position of this collider wrt. its parent rigid-body. /// - /// Panics if the collider is not attached to a rigid-body. + /// Does nothing if the collider is not attached to a rigid-body. pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) { - self.co_changes.insert(ColliderChanges::PARENT); - let co_parent = self - .co_parent - .as_mut() - .expect("This collider has no parent."); - co_parent.pos_wrt_parent = pos_wrt_parent; + if let Some(co_parent) = self.co_parent.as_mut() { + self.co_changes.insert(ColliderChanges::PARENT); + co_parent.pos_wrt_parent = pos_wrt_parent; + } } /// The collision groups used by this collider. |