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Fix review comments

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This commit is contained in:
Robert Hrusecky
2020-10-12 15:59:07 -05:00
parent 3dce732700
commit e9e4ca2c43
1 changed files with 22 additions and 30 deletions
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52
src/dynamics/rigid_body.rs
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@@ -275,10 +275,10 @@ impl RigidBody {
pub fn apply_force(&mut self, force: Vector<f32>, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
self.linacc += force * self.mass_properties.inv_mass;
}
if wake_up {
self.wake_up(false);
if wake_up {
self.wake_up(true);
}
}
}
@@ -286,10 +286,10 @@ impl RigidBody {
pub fn apply_impulse(&mut self, impulse: Vector<f32>, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
self.linvel += impulse * self.mass_properties.inv_mass;
}
if wake_up {
self.wake_up(false);
if wake_up {
self.wake_up(true);
}
}
}
@@ -298,10 +298,10 @@ impl RigidBody {
pub fn apply_torque(&mut self, torque: f32, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
self.angacc += self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque);
}
if wake_up {
self.wake_up(false);
if wake_up {
self.wake_up(true);
}
}
}
@@ -310,10 +310,10 @@ impl RigidBody {
pub fn apply_torque(&mut self, torque: Vector<f32>, wake_up: bool) {
if self.body_status == BodyStatus::Dynamic {
self.angacc += self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque);
}
if wake_up {
self.wake_up(false);
if wake_up {
self.wake_up(true);
}
}
}
@@ -323,10 +323,10 @@ impl RigidBody {
if self.body_status == BodyStatus::Dynamic {
self.angvel +=
self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque_impulse);
}
if wake_up {
self.wake_up(false);
if wake_up {
self.wake_up(true);
}
}
}
@@ -336,22 +336,18 @@ impl RigidBody {
if self.body_status == BodyStatus::Dynamic {
self.angvel +=
self.world_inv_inertia_sqrt * (self.world_inv_inertia_sqrt * torque_impulse);
}
if wake_up {
self.wake_up(false);
if wake_up {
self.wake_up(true);
}
}
}
/// Applies a force at the given world-space point of this rigid-body.
pub fn apply_force_at_point(&mut self, force: Vector<f32>, point: Point<f32>, wake_up: bool) {
let torque = (point - self.world_com).gcross(force);
self.apply_force(force, false);
self.apply_torque(torque, false);
if wake_up {
self.wake_up(false);
}
self.apply_force(force, wake_up);
self.apply_torque(torque, wake_up);
}
/// Applies an impulse at the given world-space point of this rigid-body.
@@ -362,12 +358,8 @@ impl RigidBody {
wake_up: bool,
) {
let torque_impulse = (point - self.world_com).gcross(impulse);
self.apply_impulse(impulse, false);
self.apply_torque_impulse(torque_impulse, false);
if wake_up {
self.wake_up(false);
}
self.apply_impulse(impulse, wake_up);
self.apply_torque_impulse(torque_impulse, wake_up);
}
}