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

feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units

Browse Source
This commit is contained in:
Sébastien Crozet
2024-04-24 22:37:21 +02:00
committed by Sébastien Crozet
parent 6635d49c8b
commit c079452a47
10 changed files with 80 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
src/dynamics/rigid_body_components.rs
View File

@@ -995,7 +995,10 @@ impl RigidBodyDominance {
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
pub struct RigidBodyActivation {
/// The threshold linear velocity bellow which the body can fall asleep.
pub linear_threshold: Real,
///
/// The value is "normalized", i.e., the actual threshold applied by the physics engine
/// is equal to this value multiplied by [`IntegrationParameters::length_unit`].
pub normalized_linear_threshold: Real,
/// The angular linear velocity bellow which the body can fall asleep.
pub angular_threshold: Real,
/// The amount of time the rigid-body must remain below the thresholds to be put to sleep.
@@ -1014,7 +1017,7 @@ impl Default for RigidBodyActivation {
impl RigidBodyActivation {
/// The default linear velocity bellow which a body can be put to sleep.
pub fn default_linear_threshold() -> Real {
pub fn default_normalized_linear_threshold() -> Real {
0.4
}
@@ -1032,7 +1035,7 @@ impl RigidBodyActivation {
/// Create a new rb_activation status initialised with the default rb_activation threshold and is active.
pub fn active() -> Self {
RigidBodyActivation {
linear_threshold: Self::default_linear_threshold(),
normalized_linear_threshold: Self::default_normalized_linear_threshold(),
angular_threshold: Self::default_angular_threshold(),
time_until_sleep: Self::default_time_until_sleep(),
time_since_can_sleep: 0.0,
@@ -1043,7 +1046,7 @@ impl RigidBodyActivation {
/// Create a new rb_activation status initialised with the default rb_activation threshold and is inactive.
pub fn inactive() -> Self {
RigidBodyActivation {
linear_threshold: Self::default_linear_threshold(),
normalized_linear_threshold: Self::default_normalized_linear_threshold(),
angular_threshold: Self::default_angular_threshold(),
time_until_sleep: Self::default_time_until_sleep(),
time_since_can_sleep: Self::default_time_until_sleep(),
@@ -1054,7 +1057,7 @@ impl RigidBodyActivation {
/// Create a new activation status that prevents the rigid-body from sleeping.
pub fn cannot_sleep() -> Self {
RigidBodyActivation {
linear_threshold: -1.0,
normalized_linear_threshold: -1.0,
angular_threshold: -1.0,
..Self::active()
}