use crate::dynamics::{
LockedAxes, MassProperties, RigidBodyActivation, RigidBodyAdditionalMassProps, RigidBodyCcd,
RigidBodyChanges, RigidBodyColliders, RigidBodyDamping, RigidBodyDominance, RigidBodyForces,
RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{
ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderSet, ColliderShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
use crate::utils::WCross;
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 interpolation, 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(),
