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Allow disabling colliders, rigid-bodies and impulse joints

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This commit is contained in:
Sébastien Crozet
2022-11-19 16:05:46 +01:00
parent c600549aac
commit 46d976d97b
15 changed files with 408 additions and 107 deletions
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16
src/dynamics/rigid_body_components.rs
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@@ -112,6 +112,8 @@ bitflags::bitflags! {
const DOMINANCE = 1 << 5;
/// Flag indicating that the local mass-properties of this rigid-body must be recomputed.
const LOCAL_MASS_PROPERTIES = 1 << 6;
/// Flag indicating that the rigid-body was enabled or disabled.
const ENABLED_OR_DISABLED = 1 << 7;
}
}
@@ -329,12 +331,14 @@ impl RigidBodyMassProps {
for handle in &attached_colliders.0 {
if let Some(co) = colliders.get(*handle) {
if let Some(co_parent) = co.parent {
let to_add = co
.mprops
.mass_properties(&*co.shape)
.transform_by(&co_parent.pos_wrt_parent);
self.local_mprops += to_add;
if co.is_enabled() {
if let Some(co_parent) = co.parent {
let to_add = co
.mprops
.mass_properties(&*co.shape)
.transform_by(&co_parent.pos_wrt_parent);
self.local_mprops += to_add;
}
}
}
}