diff options
Diffstat (limited to 'src_testbed/physx_backend.rs')
| -rw-r--r-- | src_testbed/physx_backend.rs | 28 |
1 files changed, 25 insertions, 3 deletions
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs index 9ae7bb8..b06fd7e 100644 --- a/src_testbed/physx_backend.rs +++ b/src_testbed/physx_backend.rs @@ -225,6 +225,28 @@ impl PhysxWorld { } } + // Update mass properties. + for (rapier_handle, physx_handle) in rapier2physx.iter() { + let rb = &bodies[*rapier_handle]; + if let Some(rp) = scene.get_dynamic_mut(*physx_handle) { + let densities: Vec<_> = rb + .colliders() + .iter() + .map(|h| colliders[*h].density()) + .collect(); + + unsafe { + physx_sys::PxRigidBodyExt_updateMassAndInertia_mut( + rp.as_ptr_mut().ptr as *mut physx_sys::PxRigidBody, + densities.as_ptr(), + densities.len() as u32, + std::ptr::null(), + false, + ); + } + } + } + let mut res = Self { physics, cooking, @@ -390,7 +412,7 @@ impl PhysxWorld { for coll_handle in rb.colliders() { let collider = &mut colliders[*coll_handle]; - collider.set_position_debug(iso * collider.delta()); + collider.set_position_debug(iso * collider.position_wrt_parent()); } } } @@ -399,7 +421,7 @@ impl PhysxWorld { fn physx_collider_from_rapier_collider( collider: &Collider, ) -> Option<(ColliderDesc, Isometry3<f32>)> { - let mut local_pose = Isometry3::identity(); + let mut local_pose = *collider.position_wrt_parent(); let desc = match collider.shape() { Shape::Cuboid(cuboid) => ColliderDesc::Box( cuboid.half_extents.x, @@ -416,7 +438,7 @@ fn physx_collider_from_rapier_collider( } let rot = UnitQuaternion::rotation_between(&Vector3::x(), &dir); - local_pose = + local_pose *= Translation3::from(center.coords) * rot.unwrap_or(UnitQuaternion::identity()); ColliderDesc::Capsule(capsule.radius, capsule.height()) } |