Add velocity-based kinematic bodies

src/dynamics/rigid_body.rs

@@ -275,7 +275,7 @@ impl RigidBody {
     ///
     /// A kinematic body can move freely but is not affected by forces.
     pub fn is_kinematic(&self) -> bool {
-        self.rb_type == RigidBodyType::Kinematic
+        self.rb_type.is_kinematic()
     }
 
     /// Is this rigid body static?
@@ -527,9 +527,9 @@ impl RigidBody {
     }
 
     /// 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>) {
+    pub fn set_next_kinematic_translation(&mut self, translation: Vector<Real>) {
         if self.is_kinematic() {
-            self.rb_pos.next_position.rotation = rotation;
+            self.rb_pos.next_position.translation = translation.into();
         }
     }
 
@@ -748,8 +748,13 @@ impl RigidBodyBuilder {
     }
 
     /// Initializes the builder of a new kinematic rigid body.
-    pub fn new_kinematic() -> Self {
-        Self::new(RigidBodyType::Kinematic)
+    pub fn new_kinematic_velocity_based() -> Self {
+        Self::new(RigidBodyType::KinematicVelocityBased)
+    }
+
+    /// Initializes the builder of a new kinematic rigid body.
+    pub fn new_kinematic_position_based() -> Self {
+        Self::new(RigidBodyType::KinematicPositionBased)
     }
 
     /// Initializes the builder of a new dynamic rigid body.

src/dynamics/rigid_body_components.rs

@@ -57,13 +57,20 @@ pub enum RigidBodyType {
     Dynamic,
     /// A `RigidBodyType::Static` body cannot be affected by external forces.
     Static,
-    /// A `RigidBodyType::Kinematic` body cannot be affected by any external forces but can be controlled
+    /// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
     /// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
     ///
     /// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
     /// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
     /// modified by the user and is independent from any contact or joint it is involved in.
-    Kinematic,
+    KinematicPositionBased,
+    /// A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled
+    /// by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies.
+    ///
+    /// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
+    /// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
+    /// modified by the user and is independent from any contact or joint it is involved in.
+    KinematicVelocityBased,
     // Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
     // Disabled,
 }
@@ -81,7 +88,8 @@ impl RigidBodyType {
 
     /// Is this rigid-body kinematic (i.e. can move but is unaffected by forces)?
     pub fn is_kinematic(self) -> bool {
-        self == RigidBodyType::Kinematic
+        self == RigidBodyType::KinematicPositionBased
+            || self == RigidBodyType::KinematicVelocityBased
     }
 }