nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update the changelog + make the boolean flags more intuitive.

Browse Source
This commit is contained in:
Crozet Sébastien
2020-11-30 15:35:02 +01:00
parent c3e951f896
commit 715d0fe16e
3 changed files with 32 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
CHANGELOG
View File

@@ -3,6 +3,12 @@
their corresponding getters/setters. For example: `rb.linvel()`, `rb.set_linvel(vel, true)`.
- Add `RigidBodyBuilder::sleeping(true)` to allow the creation of a rigid-body that is asleep
at initialization-time.
- Add `RigidBodyBuilder::lock_rotations` to prevent a rigid-body from rotating because of forces.
- Add `RigidBodyBuilder::lock_translations` to prevent a rigid-body from translating because of forces.
- Add `RigidBodyBuilder::principal_inertia` for setting the principal inertia of a rigid-body, and/or
preventing the rigid-body from rotating along a specific axis.
- Change `RigidBodyBuilder::mass` by adding a bool parameter indicating whether or not the collider
contributions should be taken into account in the future too.
## v0.3.2
- Add linear and angular damping. The damping factor can be set with `RigidBodyBuilder::linear_damping` and

2
examples3d/locked_rotation3.rs
View File

@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
let rigid_body = RigidBodyBuilder::new_dynamic()
.translation(0.0, 3.0, 0.0)
.lock_translations()
.principal_inertia(Vector3::zeros(), Vector3::new(false, true, true))
.principal_inertia(Vector3::zeros(), Vector3::new(true, false, false))
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();

48
src/dynamics/rigid_body.rs
View File

@@ -632,61 +632,63 @@ impl RigidBodyBuilder {
/// Prevents this rigid-body from translating because of forces.
///
/// This is equivalent to `self.mass(0.0, true)`. See the
/// This is equivalent to `self.mass(0.0, false)`. See the
/// documentation of [`RigidBodyBuilder::mass`] for more details.
pub fn lock_translations(mut self) -> Self {
self.mass(0.0, true)
self.mass(0.0, false)
}
/// Prevents this rigid-body from rotating because of forces.
///
/// This is equivalent to `self.principal_inertia(0.0, true)` (in 2D) or
/// `self.principal_inertia(Vector3::zeros(), Vector3::repeat(true))` (in 3D).
/// This is equivalent to `self.principal_inertia(0.0, false)` (in 2D) or
/// `self.principal_inertia(Vector3::zeros(), Vector3::repeat(false))` (in 3D).
///
/// See the documentation of [`RigidBodyBuilder::principal_inertia`] for more details.
pub fn lock_rotations(mut self) -> Self {
#[cfg(feature = "dim2")]
return self.principal_inertia(0.0, true);
return self.principal_inertia(0.0, false);
#[cfg(feature = "dim3")]
return self.principal_inertia(Vector::zeros(), Vector::repeat(true));
return self.principal_inertia(Vector::zeros(), Vector::repeat(false));
}
/// Sets the mass of the rigid-body being built.
///
/// In order to lock the translations of this rigid-body (by
/// making them kinematic), call `.mass(0.0, true)`.
/// making them kinematic), call `.mass(0.0, false)`.
///
/// If `ignore_colliders` is `true`, then the mass specified here
/// If `colliders_contribution_enabled` is `false`, then the mass specified here
/// will be the final mass of the rigid-body created by this builder.
/// If `ignore_colliders` is `false`, then the final mass of the rigid-body
/// If `colliders_contribution_enabled` is `true`, then the final mass of the rigid-body
/// will depends on the initial mass set by this method to which is added
/// the contributions of all the colliders with non-zero density attached to
/// this rigid-body.
pub fn mass(mut self, mass: f32, ignore_colliders: bool) -> Self {
pub fn mass(mut self, mass: f32, colliders_contribution_enabled: bool) -> Self {
self.mass_properties.inv_mass = utils::inv(mass);
self.flags
.set(RigidBodyFlags::IGNORE_COLLIDER_MASS, ignore_colliders);
self.flags.set(
RigidBodyFlags::IGNORE_COLLIDER_MASS,
!colliders_contribution_enabled,
);
self
}
/// Sets the angular inertia of this rigid-body.
///
/// In order to lock the rotations of this rigid-body (by
/// making them kinematic), call `.principal_inertia(0.0, true)`.
/// making them kinematic), call `.principal_inertia(0.0, false)`.
///
/// If `ignore_colliders` is `true`, then the principal inertia specified here
/// If `colliders_contribution_enabled` is `false`, then the principal inertia specified here
/// will be the final principal inertia of the rigid-body created by this builder.
/// If `ignore_colliders` is `false`, then the final principal of the rigid-body
/// If `colliders_contribution_enabled` is `true`, then the final principal of the rigid-body
/// will depend on the initial principal inertia set by this method to which is added
/// the contributions of all the colliders with non-zero density attached to this rigid-body.
#[cfg(feature = "dim2")]
pub fn principal_inertia(mut self, inertia: f32, ignore_colliders: bool) -> Self {
pub fn principal_inertia(mut self, inertia: f32, colliders_contribution_enabled: bool) -> Self {
self.mass_properties.inv_principal_inertia_sqrt = utils::inv(inertia);
self.flags.set(
RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X
| RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Y
| RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Z,
ignore_colliders,
!colliders_contribution_enabled,
);
self
}
@@ -696,10 +698,10 @@ impl RigidBodyBuilder {
/// In order to lock the rotations of this rigid-body (by
/// making them kinematic), call `.principal_inertia(Vector3::zeros(), Vector3::repeat(false))`.
///
/// If `ignore_colliders[i]` is `true`, then the principal inertia specified here
/// If `colliders_contribution_enabled[i]` is `false`, then the principal inertia specified here
/// along the `i`-th local axis of the rigid-body, will be the final principal inertia along
/// the `i`-th local axis of the rigid-body created by this builder.
/// If `ignore_colliders[i]` is `false`, then the final principal of the rigid-body
/// If `colliders_contribution_enabled[i]` is `true`, then the final principal of the rigid-body
/// along its `i`-th local axis will depend on the initial principal inertia set by this method
/// to which is added the contributions of all the colliders with non-zero density
/// attached to this rigid-body.
@@ -707,20 +709,20 @@ impl RigidBodyBuilder {
pub fn principal_inertia(
mut self,
inertia: AngVector<f32>,
ignore_colliders: AngVector<bool>,
colliders_contribution_enabled: AngVector<bool>,
) -> Self {
self.mass_properties.inv_principal_inertia_sqrt = inertia.map(utils::inv);
self.flags.set(
RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X,
ignore_colliders.x,
!colliders_contribution_enabled.x,
);
self.flags.set(
RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Y,
ignore_colliders.y,
!colliders_contribution_enabled.y,
);
self.flags.set(
RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_Z,
ignore_colliders.z,
!colliders_contribution_enabled.z,
);
self
}