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Add prelude + use vectors for setting linvel/translation in builders

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This commit is contained in:
Crozet Sébastien
2021-05-25 11:00:13 +02:00
parent 47139323e0
commit 1bef66fea9
93 changed files with 1528 additions and 1259 deletions
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174
src/dynamics/rigid_body.rs
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@@ -124,6 +124,72 @@ impl RigidBody {
self.rb_dominance.effective_group(&self.rb_type)
}
#[inline]
/// Locks or unlocks all the rotations of this rigid-body.
pub fn lock_rotations(&mut self, locked: bool, wake_up: bool) {
if self.is_dynamic() {
if wake_up {
self.wake_up(true);
}
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_X, locked);
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y, locked);
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z, locked);
self.update_world_mass_properties();
}
}
#[inline]
/// Locks or unlocks rotations of this rigid-body along each cartesian axes.
pub fn restrict_rotations(
&mut self,
allow_rotations_x: bool,
allow_rotations_y: bool,
allow_rotations_z: bool,
wake_up: bool,
) {
if self.is_dynamic() {
if wake_up {
self.wake_up(true);
}
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::ROTATION_LOCKED_X,
allow_rotations_x,
);
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::ROTATION_LOCKED_Y,
allow_rotations_y,
);
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::ROTATION_LOCKED_Z,
allow_rotations_z,
);
self.update_world_mass_properties();
}
}
#[inline]
/// Locks or unlocks all the rotations of this rigid-body.
pub fn lock_translations(&mut self, locked: bool, wake_up: bool) {
if self.is_dynamic() {
if wake_up {
self.wake_up(true);
}
self.rb_mprops
.flags
.set(RigidBodyMassPropsFlags::TRANSLATION_LOCKED, locked);
self.update_world_mass_properties();
}
}
/// Are the translations of this rigid-body locked?
pub fn is_translation_locked(&self) -> bool {
self.rb_mprops
@@ -251,6 +317,16 @@ impl RigidBody {
self.rb_forces.gravity_scale = scale;
}
/// The dominance group of this rigid-body.
pub fn dominance_group(&self) -> i8 {
self.rb_dominance.0
}
/// The dominance group of this rigid-body.
pub fn set_dominance_group(&mut self, dominance: i8) {
self.rb_dominance.0 = dominance
}
/// Adds a collider to this rigid-body.
// TODO ECS: we keep this public for now just to simply our experiments on bevy_rapier.
pub fn add_collider(
@@ -279,9 +355,10 @@ impl RigidBody {
if let Some(i) = self.rb_colliders.0.iter().position(|e| *e == handle) {
self.changes.set(RigidBodyChanges::COLLIDERS, true);
self.rb_colliders.0.swap_remove(i);
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent());
.transform_by(coll.position_wrt_parent().unwrap());
self.rb_mprops.mass_properties -= mass_properties;
self.update_world_mass_properties();
}
@@ -384,6 +461,45 @@ impl RigidBody {
&self.rb_pos.position
}
/// The translational part of this rigid-body's position.
#[inline]
pub fn translation(&self) -> Vector<Real> {
self.rb_pos.position.translation.vector
}
/// Sets the translational part of this rigid-body's position.
#[inline]
pub fn set_translation(&mut self, translation: Vector<Real>, wake_up: bool) {
self.changes.insert(RigidBodyChanges::POSITION);
self.rb_pos.position.translation.vector = translation;
self.rb_pos.next_position.translation.vector = translation;
// TODO: Do we really need to check that the body isn't dynamic?
if wake_up && self.is_dynamic() {
self.wake_up(true)
}
}
/// The translational part of this rigid-body's position.
#[inline]
pub fn rotation(&self) -> Rotation<Real> {
self.rb_pos.position.rotation
}
/// Sets the rotational part of this rigid-body's position.
#[inline]
pub fn set_rotation(&mut self, rotation: AngVector<Real>, wake_up: bool) {
self.changes.insert(RigidBodyChanges::POSITION);
let rotation = Rotation::new(rotation);
self.rb_pos.position.rotation = rotation;
self.rb_pos.next_position.rotation = rotation;
// TODO: Do we really need to check that the body isn't dynamic?
if wake_up && self.is_dynamic() {
self.wake_up(true)
}
}
/// Sets the position and `next_kinematic_position` of this rigid body.
///
/// This will teleport the rigid-body to the specified position/orientation,
@@ -404,6 +520,20 @@ impl RigidBody {
}
}
/// If this rigid body is kinematic, sets its future translation after the next timestep integration.
pub fn set_next_kinematic_rotation(&mut self, rotation: AngVector<Real>) {
if self.is_kinematic() {
self.rb_pos.next_position.rotation = Rotation::new(rotation);
}
}
/// If this rigid body is kinematic, sets its future orientation after the next timestep integration.
pub fn set_next_kinematic_translation(&mut self, rotation: Rotation<Real>) {
if self.is_kinematic() {
self.rb_pos.next_position.rotation = rotation;
}
}
/// If this rigid body is kinematic, sets its future position after the next timestep integration.
pub fn set_next_kinematic_position(&mut self, pos: Isometry<Real>) {
if self.is_kinematic() {
@@ -411,6 +541,17 @@ impl RigidBody {
}
}
/// Predicts the next position of this rigid-body, by integrating its velocity and forces
/// by a time of `dt`.
pub fn predict_position_using_velocity_and_forces(&self, dt: Real) -> Isometry<Real> {
self.rb_pos.integrate_forces_and_velocities(
dt,
&self.rb_forces,
&self.rb_vels,
&self.rb_mprops,
)
}
pub(crate) fn update_world_mass_properties(&mut self) {
self.rb_mprops
.update_world_mass_properties(&self.rb_pos.position);
@@ -618,8 +759,8 @@ impl RigidBodyBuilder {
}
/// Sets the scale applied to the gravity force affecting the rigid-body to be created.
pub fn gravity_scale(mut self, x: Real) -> Self {
self.gravity_scale = x;
pub fn gravity_scale(mut self, scale_factor: Real) -> Self {
self.gravity_scale = scale_factor;
self
}
@@ -630,19 +771,8 @@ impl RigidBodyBuilder {
}
/// Sets the initial translation of the rigid-body to be created.
#[cfg(feature = "dim2")]
pub fn translation(mut self, x: Real, y: Real) -> Self {
self.position.translation.x = x;
self.position.translation.y = y;
self
}
/// Sets the initial translation of the rigid-body to be created.
#[cfg(feature = "dim3")]
pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
self.position.translation.x = x;
self.position.translation.y = y;
self.position.translation.z = z;
pub fn translation(mut self, translation: Vector<Real>) -> Self {
self.position.translation.vector = translation;
self
}
@@ -811,16 +941,8 @@ impl RigidBodyBuilder {
}
/// Sets the initial linear velocity of the rigid-body to be created.
#[cfg(feature = "dim2")]
pub fn linvel(mut self, x: Real, y: Real) -> Self {
self.linvel = Vector::new(x, y);
self
}
/// Sets the initial linear velocity of the rigid-body to be created.
#[cfg(feature = "dim3")]
pub fn linvel(mut self, x: Real, y: Real, z: Real) -> Self {
self.linvel = Vector::new(x, y, z);
pub fn linvel(mut self, linvel: Vector<Real>) -> Self {
self.linvel = linvel;
self
}