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Fix mass-properties update after collider change

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This commit is contained in:
Sébastien Crozet
2022-04-16 11:54:03 +02:00
committed by Sébastien Crozet
parent 775c45e9ff
commit ee679427cd
8 changed files with 118 additions and 34 deletions
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9
src/geometry/collider.rs
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@@ -411,21 +411,18 @@ impl ColliderBuilder {
/// Initialize a new collider builder with a capsule shape aligned with the `x` axis.
pub fn capsule_x(half_height: Real, radius: Real) -> Self {
let p = Point::from(Vector::x() * half_height);
Self::new(SharedShape::capsule(-p, p, radius))
Self::new(SharedShape::capsule_x(half_height, radius))
}
/// Initialize a new collider builder with a capsule shape aligned with the `y` axis.
pub fn capsule_y(half_height: Real, radius: Real) -> Self {
let p = Point::from(Vector::y() * half_height);
Self::new(SharedShape::capsule(-p, p, radius))
Self::new(SharedShape::capsule_y(half_height, radius))
}
/// Initialize a new collider builder with a capsule shape aligned with the `z` axis.
#[cfg(feature = "dim3")]
pub fn capsule_z(half_height: Real, radius: Real) -> Self {
let p = Point::from(Vector::z() * half_height);
Self::new(SharedShape::capsule(-p, p, radius))
Self::new(SharedShape::capsule_z(half_height, radius))
}
/// Initialize a new collider builder with a cuboid shape defined by its half-extents.