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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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100
src/geometry/collider.rs
View File

@@ -241,10 +241,54 @@ impl Collider {
pub fn density(&self) -> Option<Real> {
match &self.mprops {
ColliderMassProps::Density(density) => Some(*density),
ColliderMassProps::Mass(_) => None,
ColliderMassProps::MassProperties(_) => None,
}
}
/// Sets the uniform density of this collider.
///
/// This will override any previous mass-properties set by [`Self::set_density`],
/// [`Self::set_mass`], [`Self::set_mass_properties`], [`ColliderBuilder::density`],
/// [`ColliderBuilder::mass`], or [`ColliderBuilder::mass_properties`]
/// for this collider.
///
/// The mass and angular inertia of this collider will be computed automatically based on its
/// shape.
pub fn set_density(&mut self, density: Real) {
self.do_set_mass_properties(ColliderMassProps::Density(density));
}
/// Sets the mass of this collider.
///
/// This will override any previous mass-properties set by [`Self::set_density`],
/// [`Self::set_mass`], [`Self::set_mass_properties`], [`ColliderBuilder::density`],
/// [`ColliderBuilder::mass`], or [`ColliderBuilder::mass_properties`]
/// for this collider.
///
/// The angular inertia of this collider will be computed automatically based on its shape
/// and this mass value.
pub fn set_mass(&mut self, mass: Real) {
self.do_set_mass_properties(ColliderMassProps::Mass(mass));
}
/// Sets the mass properties of this collider.
///
/// This will override any previous mass-properties set by [`Self::set_density`],
/// [`Self::set_mass`], [`Self::set_mass_properties`], [`ColliderBuilder::density`],
/// [`ColliderBuilder::mass`], or [`ColliderBuilder::mass_properties`]
/// for this collider.
pub fn set_mass_properties(&mut self, mass_properties: MassProperties) {
self.do_set_mass_properties(ColliderMassProps::MassProperties(Box::new(mass_properties)))
}
fn do_set_mass_properties(&mut self, mprops: ColliderMassProps) {
if mprops != self.mprops {
self.changes |= ColliderChanges::LOCAL_MASS_PROPERTIES;
self.mprops = mprops;
}
}
/// The geometric shape of this collider.
pub fn shape(&self) -> &dyn Shape {
self.shape.as_ref()
@@ -284,10 +328,7 @@ impl Collider {
/// Compute the local-space mass properties of this collider.
pub fn mass_properties(&self) -> MassProperties {
match &self.mprops {
ColliderMassProps::Density(density) => self.shape.mass_properties(*density),
ColliderMassProps::MassProperties(mass_properties) => **mass_properties,
}
self.mprops.mass_properties(&*self.shape)
}
/// The total force magnitude beyond which a contact force event can be emitted.
@@ -303,11 +344,8 @@ impl Collider {
pub struct ColliderBuilder {
/// The shape of the collider to be built.
pub shape: SharedShape,
/// The uniform density of the collider to be built.
pub density: Option<Real>,
/// Overrides automatic computation of `MassProperties`.
/// If None, it will be computed based on shape and density.
pub mass_properties: Option<MassProperties>,
/// Controls the way the collider’s mass-properties are computed.
pub mass_properties: ColliderMassProps,
/// The friction coefficient of the collider to be built.
pub friction: Real,
/// The rule used to combine two friction coefficients.
@@ -341,8 +379,7 @@ impl ColliderBuilder {
pub fn new(shape: SharedShape) -> Self {
Self {
shape,
density: None,
mass_properties: None,
mass_properties: ColliderMassProps::default(),
friction: Self::default_friction(),
restitution: 0.0,
position: Isometry::identity(),
@@ -627,9 +664,6 @@ impl ColliderBuilder {
}
/// Sets whether or not the collider built by this builder is a sensor.
///
/// Sensors will have a default density of zero,
/// but if you call [`Self::mass_properties`] you can assign a mass to a sensor.
pub fn sensor(mut self, is_sensor: bool) -> Self {
self.is_sensor = is_sensor;
self
@@ -679,19 +713,34 @@ impl ColliderBuilder {
/// Sets the uniform density of the collider this builder will build.
///
/// This will be overridden by a call to [`Self::mass_properties`] so it only makes sense to call
/// either [`Self::density`] or [`Self::mass_properties`].
/// This will be overridden by a call to [`Self::mass`] or [`Self::mass_properties`] so it only
/// makes sense to call either [`Self::density`] or [`Self::mass`] or [`Self::mass_properties`].
///
/// The mass and angular inertia of this collider will be computed automatically based on its
/// shape.
pub fn density(mut self, density: Real) -> Self {
self.density = Some(density);
self.mass_properties = ColliderMassProps::Density(density);
self
}
/// Sets the mass of the collider this builder will build.
///
/// This will be overridden by a call to [`Self::density`] or [`Self::mass_properties`] so it only
/// makes sense to call either [`Self::density`] or [`Self::mass`] or [`Self::mass_properties`].
///
/// The angular inertia of this collider will be computed automatically based on its shape
/// and this mass value.
pub fn mass(mut self, mass: Real) -> Self {
self.mass_properties = ColliderMassProps::Mass(mass);
self
}
/// Sets the mass properties of the collider this builder will build.
///
/// If this is set, [`Self::density`] will be ignored, so it only makes sense to call
/// either [`Self::density`] or [`Self::mass_properties`].
/// This will be overridden by a call to [`Self::density`] or [`Self::mass`] so it only
/// makes sense to call either [`Self::density`] or [`Self::mass`] or [`Self::mass_properties`].
pub fn mass_properties(mut self, mass_properties: MassProperties) -> Self {
self.mass_properties = Some(mass_properties);
self.mass_properties = ColliderMassProps::MassProperties(Box::new(mass_properties));
self
}
@@ -745,16 +794,7 @@ impl ColliderBuilder {
/// Builds a new collider attached to the given rigid-body.
pub fn build(&self) -> Collider {
let mass_info = if let Some(mp) = self.mass_properties {
ColliderMassProps::MassProperties(Box::new(mp))
} else {
let default_density = Self::default_density();
let density = self.density.unwrap_or(default_density);
ColliderMassProps::Density(density)
};
let shape = self.shape.clone();
let mprops = mass_info;
let material = ColliderMaterial {
friction: self.friction,
restitution: self.restitution,
@@ -779,7 +819,7 @@ impl ColliderBuilder {
Collider {
shape,
mprops,
mprops: self.mass_properties.clone(),
material,
parent: None,
changes,

39
src/geometry/collider_components.rs
View File

@@ -47,21 +47,23 @@ bitflags::bitflags! {
pub struct ColliderChanges: u32 {
/// Flag indicating that any component of the collider has been modified.
const MODIFIED = 1 << 0;
/// Flag indicating that the density or mass-properties of this collider was changed.
const LOCAL_MASS_PROPERTIES = 1 << 1; // => RigidBody local mass-properties update.
/// Flag indicating that the `ColliderParent` component of the collider has been modified.
const PARENT = 1 << 1; // => BF & NF updates.
const PARENT = 1 << 2; // => BF & NF updates.
/// Flag indicating that the `ColliderPosition` component of the collider has been modified.
const POSITION = 1 << 2; // => BF & NF updates.
const POSITION = 1 << 3; // => BF & NF updates.
/// Flag indicating that the collision groups of the collider have been modified.
const GROUPS = 1 << 3; // => NF update.
const GROUPS = 1 << 4; // => NF update.
/// Flag indicating that the `ColliderShape` component of the collider has been modified.
const SHAPE = 1 << 4; // => BF & NF update. NF pair workspace invalidation.
const SHAPE = 1 << 5; // => BF & NF update. NF pair workspace invalidation.
/// Flag indicating that the `ColliderType` component of the collider has been modified.
const TYPE = 1 << 5; // => NF update. NF pair invalidation.
const TYPE = 1 << 6; // => NF update. NF pair invalidation.
/// Flag indicating that the dominance groups of the parent of this collider have been modified.
///
/// This flags is automatically set by the `PhysicsPipeline` when the `RigidBodyChanges::DOMINANCE`
/// or `RigidBodyChanges::TYPE` of the parent rigid-body of this collider is detected.
const PARENT_EFFECTIVE_DOMINANCE = 1 << 6; // NF update.
const PARENT_EFFECTIVE_DOMINANCE = 1 << 7; // NF update.
}
}
@@ -86,7 +88,7 @@ impl ColliderChanges {
// bottleneck at some point in the future (which is very unlikely)
// we could do a special-case for dominance-only change (so that
// we only update the relative_dominance of the pre-existing contact.
self.bits() > 1
self.bits() > 2
}
}
@@ -134,6 +136,10 @@ pub enum ColliderMassProps {
/// Its actual `MassProperties` are computed automatically with
/// the help of [`SharedShape::mass_properties`].
Density(Real),
/// The collider is given a mass.
///
/// Its angular inertia will be computed automatically based on this mass.
Mass(Real),
/// The collider is given explicit mass-properties.
MassProperties(Box<MassProperties>),
}
@@ -159,8 +165,23 @@ impl ColliderMassProps {
/// If `self` is the `MassProperties` variant, then this returns the stored mass-properties.
pub fn mass_properties(&self, shape: &dyn Shape) -> MassProperties {
match self {
Self::Density(density) => shape.mass_properties(*density),
Self::MassProperties(mprops) => **mprops,
ColliderMassProps::Density(density) => {
if *density != 0.0 {
shape.mass_properties(*density)
} else {
MassProperties::default()
}
}
ColliderMassProps::Mass(mass) => {
if *mass != 0.0 {
let mut mprops = shape.mass_properties(1.0);
mprops.set_mass(*mass, true);
mprops
} else {
MassProperties::default()
}
}
ColliderMassProps::MassProperties(mass_properties) => **mass_properties,
}
}
}