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Rework the event system

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This commit is contained in:
Crozet Sébastien
2021-06-01 12:36:01 +02:00
parent 1bef66fea9
commit 826ce5f014
28 changed files with 382 additions and 200 deletions
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27
src/dynamics/rigid_body.rs
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@@ -4,8 +4,7 @@ use crate::dynamics::{
RigidBodyMassPropsFlags, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{
Collider, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
ColliderShape,
Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
use crate::utils::{self, WCross};
@@ -48,7 +47,7 @@ impl RigidBody {
rb_ccd: RigidBodyCcd::default(),
rb_ids: RigidBodyIds::default(),
rb_colliders: RigidBodyColliders::default(),
rb_activation: RigidBodyActivation::new_active(),
rb_activation: RigidBodyActivation::active(),
changes: RigidBodyChanges::all(),
rb_type: RigidBodyType::Dynamic,
rb_dominance: RigidBodyDominance::default(),
@@ -112,7 +111,7 @@ impl RigidBody {
/// The mass properties of this rigid-body.
#[inline]
pub fn mass_properties(&self) -> &MassProperties {
&self.rb_mprops.mass_properties
&self.rb_mprops.local_mprops
}
/// The dominance group of this rigid-body.
@@ -256,7 +255,7 @@ impl RigidBody {
self.wake_up(true);
}
self.rb_mprops.mass_properties = props;
self.rb_mprops.local_mprops = props;
self.update_world_mass_properties();
}
@@ -290,7 +289,7 @@ impl RigidBody {
///
/// Returns zero if this rigid body has an infinite mass.
pub fn mass(&self) -> Real {
utils::inv(self.rb_mprops.mass_properties.inv_mass)
utils::inv(self.rb_mprops.local_mprops.inv_mass)
}
/// The predicted position of this rigid-body.
@@ -335,7 +334,7 @@ impl RigidBody {
co_parent: &ColliderParent,
co_pos: &mut ColliderPosition,
co_shape: &ColliderShape,
co_mprops: &ColliderMassProperties,
co_mprops: &ColliderMassProps,
) {
self.rb_colliders.attach_collider(
&mut self.changes,
@@ -359,7 +358,7 @@ impl RigidBody {
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent().unwrap());
self.rb_mprops.mass_properties -= mass_properties;
self.rb_mprops.local_mprops -= mass_properties;
self.update_world_mass_properties();
}
}
@@ -463,8 +462,8 @@ impl RigidBody {
/// The translational part of this rigid-body's position.
#[inline]
pub fn translation(&self) -> Vector<Real> {
self.rb_pos.position.translation.vector
pub fn translation(&self) -> &Vector<Real> {
&self.rb_pos.position.translation.vector
}
/// Sets the translational part of this rigid-body's position.
@@ -482,8 +481,8 @@ impl RigidBody {
/// The translational part of this rigid-body's position.
#[inline]
pub fn rotation(&self) -> Rotation<Real> {
self.rb_pos.position.rotation
pub fn rotation(&self) -> &Rotation<Real> {
&self.rb_pos.position.rotation
}
/// Sets the rotational part of this rigid-body's position.
@@ -692,7 +691,7 @@ impl RigidBody {
pub fn gravitational_potential_energy(&self, dt: Real, gravity: Vector<Real>) -> Real {
let world_com = self
.rb_mprops
.mass_properties
.local_mprops
.world_com(&self.rb_pos.position)
.coords;
@@ -979,7 +978,7 @@ impl RigidBodyBuilder {
rb.rb_vels.angvel = self.angvel;
rb.rb_type = self.rb_type;
rb.user_data = self.user_data;
rb.rb_mprops.mass_properties = self.mass_properties;
rb.rb_mprops.local_mprops = self.mass_properties;
rb.rb_mprops.flags = self.mprops_flags;
rb.rb_damping.linear_damping = self.linear_damping;
rb.rb_damping.angular_damping = self.angular_damping;