From 8ffb0d1658d448074f5ca2b77aee33f755761e24 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Thu, 28 Apr 2022 13:05:00 +0200 Subject: Take round shapes into account in 2D debug render --- src/dynamics/joint/multibody_joint/multibody_joint_set.rs | 10 ++++++++++ 1 file changed, 10 insertions(+) (limited to 'src/dynamics') diff --git a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs index 748530f..06dff5d 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint_set.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint_set.rs @@ -299,10 +299,20 @@ impl MultibodyJointSet { } /// Gets a mutable reference to the multibody identified by its `handle`. + pub fn get_mut(&mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)> { + let link = self.rb2mb.get(handle.0)?; + let multibody = self.multibodies.get_mut(link.multibody.0)?; + Some((multibody, link.id)) + } + + /// Gets a mutable reference to the multibody identified by its `handle`. + /// + /// This method will bypass any modification-detection automatically done by the MultibodyJointSet. pub fn get_mut_internal( &mut self, handle: MultibodyJointHandle, ) -> Option<(&mut Multibody, usize)> { + // TODO: modification tracking? let link = self.rb2mb.get(handle.0)?; let multibody = self.multibodies.get_mut(link.multibody.0)?; Some((multibody, link.id)) -- cgit