Add methods to read the mass or volume of a collider.

CHANGELOG.md

@@ -7,6 +7,7 @@
 - Remove the deprecated methods `RigidBodyBuilder::mass`, `::principal_angular_inertia`, `::principal_inertia`.
 - Remove the methods `RigidBodyBuilder::additional_principal_angular_inertia`. Use
   `RigidBodyBuilder::additional_mass_properties` instead.
+- The `Collider::density` method now always returns a `Real` (instead of an `Option<Real>`).
 
 ### Added
 - Add `RigidBody::recompute_mass_properties_from_colliders` to force the immediate computation
@@ -20,6 +21,7 @@
   computed based on this mass and on its shape.
 - Add `ColliderBuilder::mass` to set the mass of the collider instead of its density. Its angular
   inertia tensor will be automatically computed based on this mass and its shape.
+- Add `Collider::mass` and `Collider::volume` to retrieve the mass or volume of a collider.
 
 ## v0.13.0 (31 May 2022)
 ### Fixed

src/dynamics/rigid_body.rs

@@ -4,8 +4,7 @@ use crate::dynamics::{
     RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
 };
 use crate::geometry::{
-    Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderSet,
+    ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderSet, ColliderShape,
-    ColliderShape,
 };
 use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
 use crate::utils::WCross;
@@ -484,7 +483,7 @@ impl RigidBody {
     }
 
     /// Removes a collider from this rigid-body.
-    pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) {
+    pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle) {
         if let Some(i) = self.colliders.0.iter().position(|e| *e == handle) {
             self.changes.set(RigidBodyChanges::COLLIDERS, true);
             self.colliders.0.swap_remove(i);

src/geometry/collider.rs

@@ -237,12 +237,32 @@ impl Collider {
         &self.material
     }
 
-    /// The density of this collider, if set.
+    /// The volume (or surface in 2D) of this collider.
-    pub fn density(&self) -> Option<Real> {
+    pub fn volume(&self) -> Real {
+        self.shape.mass_properties(1.0).mass()
+    }
+
+    /// The density of this collider.
+    pub fn density(&self) -> Real {
         match &self.mprops {
-            ColliderMassProps::Density(density) => Some(*density),
+            ColliderMassProps::Density(density) => *density,
-            ColliderMassProps::Mass(_) => None,
+            ColliderMassProps::Mass(mass) => {
-            ColliderMassProps::MassProperties(_) => None,
+                let inv_volume = self.shape.mass_properties(1.0).inv_mass;
+                mass * inv_volume
+            }
+            ColliderMassProps::MassProperties(mprops) => {
+                let inv_volume = self.shape.mass_properties(1.0).inv_mass;
+                mprops.mass() * inv_volume
+            }
+        }
+    }
+
+    /// The mass of this collider.
+    pub fn mass(&self) -> Real {
+        match &self.mprops {
+            ColliderMassProps::Density(density) => self.shape.mass_properties(*density).mass(),
+            ColliderMassProps::Mass(mass) => *mass,
+            ColliderMassProps::MassProperties(mprops) => mprops.mass(),
         }
     }
 

src/geometry/collider_set.rs

@@ -137,7 +137,7 @@ impl ColliderSet {
 
             if let Some(parent_handle) = curr_parent {
                 if let Some(rb) = bodies.get_mut(parent_handle) {
-                    rb.remove_collider_internal(handle, &*collider);
+                    rb.remove_collider_internal(handle);
                 }
             }
 
@@ -189,7 +189,7 @@ impl ColliderSet {
             if let Some(parent_rb) =
                 bodies.get_mut_internal_with_modification_tracking(parent.handle)
             {
-                parent_rb.remove_collider_internal(handle, &collider);
+                parent_rb.remove_collider_internal(handle);
 
                 if wake_up {
                     islands.wake_up(bodies, parent.handle, true);

src_testbed/physx_backend.rs

@@ -338,7 +338,7 @@ impl PhysxWorld {
                 let densities: Vec<_> = rb
                     .colliders()
                     .iter()
-                    .map(|h| colliders[*h].density().unwrap_or(0.0))
+                    .map(|h| colliders[*h].density())
                     .collect();
 
                 unsafe {