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Improve the API for initializing/setting mass-properties

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This commit is contained in:
Sébastien Crozet
2022-07-05 14:59:14 +02:00
parent b8d46a6b1d
commit ba081fb6f5
7 changed files with 294 additions and 175 deletions
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221
src/dynamics/rigid_body.rs
View File

@@ -1,14 +1,14 @@
use crate::dynamics::{
LockedAxes, MassProperties, RigidBodyActivation, RigidBodyCcd, RigidBodyChanges,
RigidBodyColliders, RigidBodyDamping, RigidBodyDominance, RigidBodyForces, RigidBodyIds,
RigidBodyMassProps, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
LockedAxes, MassProperties, RigidBodyActivation, RigidBodyAdditionalMassProps, RigidBodyCcd,
RigidBodyChanges, RigidBodyColliders, RigidBodyDamping, RigidBodyDominance, RigidBodyForces,
RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{
Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderShape,
Collider, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition, ColliderSet,
ColliderShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
use crate::utils::{self, WCross};
use na::ComplexField;
use crate::utils::WCross;
use num::Zero;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -123,7 +123,7 @@ impl RigidBody {
}
}
/// The mass properties of this rigid-body.
/// The mass-properties of this rigid-body.
#[inline]
pub fn mass_properties(&self) -> &MassProperties {
&self.mprops.local_mprops
@@ -310,26 +310,82 @@ impl RigidBody {
self.ccd.ccd_active
}
/// Sets the rigid-body's additional mass properties.
/// Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.
pub fn recompute_mass_properties_from_colliders(&mut self, colliders: &ColliderSet) {
self.mprops.recompute_mass_properties_from_colliders(
colliders,
&self.colliders,
&self.pos.position,
);
}
/// Sets the rigid-body's additional mass.
///
/// The total angular inertia of the rigid-body will be scaled automatically based on this
/// additional mass. If this scaling effect isn’t desired, use [`Self::additional_mass_properties`]
/// instead of this method.
///
/// This is only the "additional" mass because the total mass of the rigid-body is
/// equal to the sum of this additional mass and the mass computed from the colliders
/// (with non-zero densities) attached to this rigid-body.
///
/// That total mass (which includes the attached colliders’ contributions)
/// will be updated at the name physics step, or can be updated manually with
/// [`Self::recompute_mass_properties_from_colliders`].
///
/// This will override any previous mass-properties set by [`Self::set_additional_mass`],
/// [`Self::set_additional_mass_properties`], [`RigidBodyBuilder::additional_mass`], or
/// [`RigidBodyBuilder::additional_mass_properties`] for this rigid-body.
///
/// If `wake_up` is `true` then the rigid-body will be woken up if it was
/// put to sleep because it did not move for a while.
#[inline]
pub fn set_additional_mass(&mut self, additional_mass: Real, wake_up: bool) {
self.do_set_additional_mass_properties(
RigidBodyAdditionalMassProps::Mass(additional_mass),
wake_up,
)
}
/// Sets the rigid-body's additional mass-properties.
///
/// This is only the "additional" mass-properties because the total mass-properties of the
/// rigid-body is equal to the sum of this additional mass-properties and the mass computed from
/// the colliders (with non-zero densities) attached to this rigid-body.
///
/// That total mass-properties (which include the attached colliders’ contributions)
/// will be updated at the name physics step, or can be updated manually with
/// [`Self::recompute_mass_properties_from_colliders`].
///
/// This will override any previous mass-properties set by [`Self::set_additional_mass`],
/// [`Self::set_additional_mass_properties`], [`RigidBodyBuilder::additional_mass`], or
/// [`RigidBodyBuilder::additional_mass_properties`] for this rigid-body.
///
/// If `wake_up` is `true` then the rigid-body will be woken up if it was
/// put to sleep because it did not move for a while.
#[inline]
pub fn set_additional_mass_properties(&mut self, props: MassProperties, wake_up: bool) {
if let Some(add_mprops) = &mut self.mprops.additional_local_mprops {
self.mprops.local_mprops += props;
self.mprops.local_mprops -= **add_mprops;
**add_mprops = props;
} else {
self.mprops.additional_local_mprops = Some(Box::new(props));
self.mprops.local_mprops += props;
}
self.do_set_additional_mass_properties(
RigidBodyAdditionalMassProps::MassProps(props),
wake_up,
)
}
if self.is_dynamic() && wake_up {
self.wake_up(true);
}
fn do_set_additional_mass_properties(
&mut self,
props: RigidBodyAdditionalMassProps,
wake_up: bool,
) {
let new_mprops = Some(Box::new(props));
self.update_world_mass_properties();
if self.mprops.additional_local_mprops != new_mprops {
self.changes.insert(RigidBodyChanges::LOCAL_MASS_PROPERTIES);
self.mprops.additional_local_mprops = new_mprops;
if self.is_dynamic() && wake_up {
self.wake_up(true);
}
}
}
/// The handles of colliders attached to this rigid body.
@@ -432,12 +488,6 @@ impl RigidBody {
if let Some(i) = self.colliders.0.iter().position(|e| *e == handle) {
self.changes.set(RigidBodyChanges::COLLIDERS, true);
self.colliders.0.swap_remove(i);
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent().unwrap());
self.mprops.local_mprops -= mass_properties;
self.update_world_mass_properties();
}
}
@@ -859,8 +909,8 @@ pub struct RigidBodyBuilder {
pub angular_damping: Real,
body_type: RigidBodyType,
mprops_flags: LockedAxes,
/// The additional mass properties of the rigid-body being built. See [`RigidBodyBuilder::additional_mass_properties`] for more information.
pub additional_mass_properties: MassProperties,
/// The additional mass-properties of the rigid-body being built. See [`RigidBodyBuilder::additional_mass_properties`] for more information.
additional_mass_properties: RigidBodyAdditionalMassProps,
/// Whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.
pub can_sleep: bool,
/// Whether or not the rigid-body is to be created asleep.
@@ -887,7 +937,7 @@ impl RigidBodyBuilder {
angular_damping: 0.0,
body_type,
mprops_flags: LockedAxes::empty(),
additional_mass_properties: MassProperties::zero(),
additional_mass_properties: RigidBodyAdditionalMassProps::default(),
can_sleep: true,
sleeping: false,
ccd_enabled: false,
@@ -968,18 +1018,41 @@ impl RigidBodyBuilder {
self
}
/// Sets the additional mass properties of the rigid-body being built.
/// Sets the additional mass-properties of the rigid-body being built.
///
/// Note that "additional" means that the final mass properties of the rigid-bodies depends
/// This will be overridden by a call to [`Self::additional_mass`] so it only makes sense to call
/// either [`Self::additional_mass`] or [`Self::additional_mass_properties`].
///
/// Note that "additional" means that the final mass-properties of the rigid-bodies depends
/// on the initial mass-properties of the rigid-body (set by this method)
/// to which is added the contributions of all the colliders with non-zero density
/// attached to this rigid-body.
///
/// Therefore, if you want your provided mass properties to be the final
/// mass properties of your rigid-body, don't attach colliders to it, or
/// Therefore, if you want your provided mass-properties to be the final
/// mass-properties of your rigid-body, don't attach colliders to it, or
/// only attach colliders with densities equal to zero.
pub fn additional_mass_properties(mut self, props: MassProperties) -> Self {
self.additional_mass_properties = props;
pub fn additional_mass_properties(mut self, mprops: MassProperties) -> Self {
self.additional_mass_properties = RigidBodyAdditionalMassProps::MassProps(mprops);
self
}
/// Sets the additional mass of the rigid-body being built.
///
/// This will be overridden by a call to [`Self::additional_mass_properties`] so it only makes
/// sense to call either [`Self::additional_mass`] or [`Self::additional_mass_properties`].
///
/// This is only the "additional" mass because the total mass of the rigid-body is
/// equal to the sum of this additional mass and the mass computed from the colliders
/// (with non-zero densities) attached to this rigid-body.
///
/// The total angular inertia of the rigid-body will be scaled automatically based on this
/// additional mass. If this scaling effect isn’t desired, use [`Self::additional_mass_properties`]
/// instead of this method.
///
/// # Parameters
/// * `mass`- The mass that will be added to the created rigid-body.
pub fn additional_mass(mut self, mass: Real) -> Self {
self.additional_mass_properties = RigidBodyAdditionalMassProps::Mass(mass);
self
}
@@ -1037,78 +1110,6 @@ impl RigidBodyBuilder {
self
}
/// Sets the additional mass of the rigid-body being built.
///
/// This is only the "additional" mass because the total mass of the rigid-body is
/// equal to the sum of this additional mass and the mass computed from the colliders
/// (with non-zero densities) attached to this rigid-body.
pub fn additional_mass(mut self, mass: Real) -> Self {
self.additional_mass_properties.set_mass(mass, false);
self
}
/// Sets the additional mass of the rigid-body being built.
///
/// This is only the "additional" mass because the total mass of the rigid-body is
/// equal to the sum of this additional mass and the mass computed from the colliders
/// (with non-zero densities) attached to this rigid-body.
#[deprecated(note = "renamed to `additional_mass`.")]
pub fn mass(self, mass: Real) -> Self {
self.additional_mass(mass)
}
/// Sets the additional angular inertia of this rigid-body.
///
/// This is only the "additional" angular inertia because the total angular inertia of
/// the rigid-body is equal to the sum of this additional value and the angular inertia
/// computed from the colliders (with non-zero densities) attached to this rigid-body.
#[cfg(feature = "dim2")]
pub fn additional_principal_angular_inertia(mut self, inertia: Real) -> Self {
self.additional_mass_properties.inv_principal_inertia_sqrt =
utils::inv(ComplexField::sqrt(inertia.max(0.0)));
self
}
/// Sets the angular inertia of this rigid-body.
#[cfg(feature = "dim2")]
#[deprecated(note = "renamed to `additional_principal_angular_inertia`.")]
pub fn principal_angular_inertia(self, inertia: Real) -> Self {
self.additional_principal_angular_inertia(inertia)
}
/// Use `self.principal_angular_inertia` instead.
#[cfg(feature = "dim2")]
#[deprecated(note = "renamed to `additional_principal_angular_inertia`.")]
pub fn principal_inertia(self, inertia: Real) -> Self {
self.additional_principal_angular_inertia(inertia)
}
/// Sets the additional principal angular inertia of this rigid-body.
///
/// This is only the "additional" angular inertia because the total angular inertia of
/// the rigid-body is equal to the sum of this additional value and the angular inertia
/// computed from the colliders (with non-zero densities) attached to this rigid-body.
#[cfg(feature = "dim3")]
pub fn additional_principal_angular_inertia(mut self, inertia: AngVector<Real>) -> Self {
self.additional_mass_properties.inv_principal_inertia_sqrt =
inertia.map(|e| utils::inv(ComplexField::sqrt(e.max(0.0))));
self
}
/// Sets the principal angular inertia of this rigid-body.
#[cfg(feature = "dim3")]
#[deprecated(note = "renamed to `additional_principal_angular_inertia`.")]
pub fn principal_angular_inertia(self, inertia: AngVector<Real>) -> Self {
self.additional_principal_angular_inertia(inertia)
}
/// Use `self.principal_angular_inertia` instead.
#[cfg(feature = "dim3")]
#[deprecated(note = "renamed to `additional_principal_angular_inertia`.")]
pub fn principal_inertia(self, inertia: AngVector<Real>) -> Self {
self.additional_principal_angular_inertia(inertia)
}
/// Sets the damping factor for the linear part of the rigid-body motion.
///
/// The higher the linear damping factor is, the more quickly the rigid-body
@@ -1169,9 +1170,11 @@ impl RigidBodyBuilder {
rb.body_type = self.body_type;
rb.user_data = self.user_data;
if self.additional_mass_properties != MassProperties::default() {
if self.additional_mass_properties
!= RigidBodyAdditionalMassProps::MassProps(MassProperties::zero())
&& self.additional_mass_properties != RigidBodyAdditionalMassProps::Mass(0.0)
{
rb.mprops.additional_local_mprops = Some(Box::new(self.additional_mass_properties));
rb.mprops.local_mprops = self.additional_mass_properties;
}
rb.mprops.flags = self.mprops_flags;

40
src/dynamics/rigid_body_components.rs
View File

@@ -110,6 +110,8 @@ bitflags::bitflags! {
const TYPE = 1 << 4;
/// Flag indicating that the `RigidBodyDominance` component of this rigid-body has been modified.
const DOMINANCE = 1 << 5;
/// Flag indicating that the local mass-properties of this rigid-body must be recomputed.
const LOCAL_MASS_PROPERTIES = 1 << 6;
}
}
@@ -222,7 +224,23 @@ bitflags::bitflags! {
}
}
// TODO: split this into "LocalMassProps" and `WorldMassProps"?
/// Mass and angular inertia added to a rigid-body on top of its attached colliders’ contributions.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
pub enum RigidBodyAdditionalMassProps {
/// Mass properties to be added as-is.
MassProps(MassProperties),
/// Mass to be added to the rigid-body. This will also automatically scale
/// the attached colliders total angular inertia to account for the added mass.
Mass(Real),
}
impl Default for RigidBodyAdditionalMassProps {
fn default() -> Self {
RigidBodyAdditionalMassProps::MassProps(MassProperties::default())
}
}
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone, Debug, PartialEq)]
/// The mass properties of this rigid-bodies.
@@ -232,7 +250,7 @@ pub struct RigidBodyMassProps {
/// The local mass properties of the rigid-body.
pub local_mprops: MassProperties,
/// Mass-properties of this rigid-bodies, added to the contributions of its attached colliders.
pub additional_local_mprops: Option<Box<MassProperties>>,
pub additional_local_mprops: Option<Box<RigidBodyAdditionalMassProps>>,
/// The world-space center of mass of the rigid-body.
pub world_com: Point<Real>,
/// The inverse mass taking into account translation locking.
@@ -294,18 +312,20 @@ impl RigidBodyMassProps {
self.effective_world_inv_inertia_sqrt.squared().inverse()
}
/// Recompute the mass-properties of this rigid-bodies based on its currentely attached colliders.
/// Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.
pub fn recompute_mass_properties_from_colliders(
&mut self,
colliders: &ColliderSet,
attached_colliders: &RigidBodyColliders,
position: &Isometry<Real>,
) {
self.local_mprops = self
let added_mprops = self
.additional_local_mprops
.as_ref()
.map(|mprops| **mprops)
.unwrap_or_else(MassProperties::default);
.unwrap_or_else(|| RigidBodyAdditionalMassProps::MassProps(MassProperties::default()));
self.local_mprops = MassProperties::default();
for handle in &attached_colliders.0 {
if let Some(co) = colliders.get(*handle) {
@@ -319,6 +339,16 @@ impl RigidBodyMassProps {
}
}
match added_mprops {
RigidBodyAdditionalMassProps::MassProps(mprops) => {
self.local_mprops += mprops;
}
RigidBodyAdditionalMassProps::Mass(mass) => {
let new_mass = self.local_mprops.mass() + mass;
self.local_mprops.set_mass(new_mass, true);
}
}
self.update_world_mass_properties(position);
}