path: root/src/dynamics/rigid_body.rs

use crate::dynamics::{
    LockedAxes, MassProperties, RigidBodyActivation, RigidBodyCcd, RigidBodyChanges,
    RigidBodyColliders, RigidBodyDamping, RigidBodyDominance, RigidBodyForces, RigidBodyIds,
    RigidBodyMassProps, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{
    Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
use crate::utils::{self, WCross};
use na::ComplexField;
use num::Zero;

#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A rigid body.
///
/// To create a new rigid-body, use the `RigidBodyBuilder` structure.
#[derive(Debug, Clone)]
pub struct RigidBody {
    pub(crate) pos: RigidBodyPosition,
    pub(crate) mprops: RigidBodyMassProps,
    // NOTE: we need this so that the CCD can use the actual velocities obtained
    //       by the velocity solver with bias. If we switch to intepolation, we
    //       should remove this field.
    pub(crate) integrated_vels: RigidBodyVelocity,
    pub(crate) vels: RigidBodyVelocity,
    pub(crate) damping: RigidBodyDamping,
    pub(crate) forces: RigidBodyForces,
    pub(crate) ccd: RigidBodyCcd,
    pub(crate) ids: RigidBodyIds,
    pub(crate) colliders: RigidBodyColliders,
    /// Whether or not this rigid-body is sleeping.
    pub(crate) activation: RigidBodyActivation,
    pub(crate) changes: RigidBodyChanges,
    /// The status of the body, governing how it is affected by external forces.
    pub(crate) body_type: RigidBodyType,
    /// The dominance group this rigid-body is part of.
    pub(crate) dominance: RigidBodyDominance,
    pub(crate) enabled: bool,
    /// User-defined data associated to this rigid-body.
    pub user_data: u128,
}

impl Default for RigidBody {
    fn default() -> Self {
        Self::new()
    }
}

impl RigidBody {
    fn new() -> Self {
        Self {
            pos: RigidBodyPosition::default(),
            mprops: RigidBodyMassProps::default(),
            integrated_vels: RigidBodyVelocity::default(),
            vels: RigidBodyVelocity::default(),
            damping: RigidBodyDamping::default(),
            forces: RigidBodyForces::default(),
            ccd: RigidBodyCcd::default(),
            ids: RigidBodyIds::default(),
            colliders: RigidBodyColliders::default(),
            activation: RigidBodyActivation::active(),
            changes: RigidBodyChanges::all(),
            body_type: RigidBodyType::Dynamic,
            dominance: RigidBodyDominance::default(),
            enabled: true,
            user_data: 0,
        }
    }

    pub(crate) fn reset_internal_references(&mut self) {
        self.colliders.0 = Vec::new();
        self.ids = Default::defa