From df2156ffd02ea1b8c86e86f1d68c5e4e915e6d98 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Mon, 31 Aug 2020 17:58:14 +0200 Subject: Allow the removal of a collider. --- src/dynamics/rigid_body.rs | 20 +++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) (limited to 'src/dynamics/rigid_body.rs') diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 584dc96..d9cddd1 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -1,5 +1,5 @@ use crate::dynamics::MassProperties; -use crate::geometry::{ColliderHandle, InteractionGraph, RigidBodyGraphIndex}; +use crate::geometry::{Collider, ColliderHandle, InteractionGraph, RigidBodyGraphIndex}; use crate::math::{AngVector, AngularInertia, Isometry, Point, Rotation, Translation, Vector}; use crate::utils::{WCross, WDot}; use num::Zero; @@ -137,6 +137,24 @@ impl RigidBody { crate::utils::inv(self.mass_properties.inv_mass) } + /// Adds a collider to this rigid-body. + pub(crate) fn add_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { + let mass_properties = coll.mass_properties(); + self.colliders.push(handle); + self.mass_properties += mass_properties; + self.update_world_mass_properties(); + } + + /// Removes a collider from this rigid-body. + pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { + if let Some(i) = self.colliders.iter().position(|e| *e == handle) { + self.colliders.swap_remove(i); + let mass_properties = coll.mass_properties(); + self.mass_properties -= mass_properties; + self.update_world_mass_properties(); + } + } + /// Put this rigid body to sleep. /// /// A sleeping body no longer moves and is no longer simulated by the physics engine unless -- cgit From 2f2a073ce47eaa17f44d88b9dc6cc56362c374e2 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Tue, 1 Sep 2020 17:05:24 +0200 Subject: Fix mass property update when adding a collider. --- src/dynamics/rigid_body.rs | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) (limited to 'src/dynamics/rigid_body.rs') diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index d9cddd1..a2fcacc 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -139,7 +139,9 @@ impl RigidBody { /// Adds a collider to this rigid-body. pub(crate) fn add_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { - let mass_properties = coll.mass_properties(); + let mass_properties = coll + .mass_properties() + .transform_by(coll.position_wrt_parent()); self.colliders.push(handle); self.mass_properties += mass_properties; self.update_world_mass_properties(); @@ -149,7 +151,9 @@ impl RigidBody { pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) { if let Some(i) = self.colliders.iter().position(|e| *e == handle) { self.colliders.swap_remove(i); - let mass_properties = coll.mass_properties(); + let mass_properties = coll + .mass_properties() + .transform_by(coll.position_wrt_parent()); self.mass_properties -= mass_properties; self.update_world_mass_properties(); } @@ -189,7 +193,7 @@ impl RigidBody { } fn integrate_velocity(&self, dt: f32) -> Isometry { - let com = &self.position * self.mass_properties.local_com; // FIXME: use non-origin center of masses. + let com = &self.position * self.mass_properties.local_com; let shift = Translation::from(com.coords); shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse() } -- cgit