879 lines
31 KiB
Rust
879 lines
31 KiB
Rust
use crate::dynamics::{
|
|
MassProperties, RigidBodyActivation, RigidBodyCcd, RigidBodyChanges, RigidBodyColliders,
|
|
RigidBodyDamping, RigidBodyDominance, RigidBodyForces, RigidBodyIds, RigidBodyMassProps,
|
|
RigidBodyMassPropsFlags, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
|
|
};
|
|
use crate::geometry::{
|
|
Collider, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
|
|
ColliderShape,
|
|
};
|
|
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
|
|
use crate::utils::{self, WCross};
|
|
use na::ComplexField;
|
|
use num::Zero;
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
/// A rigid body.
|
|
///
|
|
/// To create a new rigid-body, use the `RigidBodyBuilder` structure.
|
|
#[derive(Debug, Clone)]
|
|
pub struct RigidBody {
|
|
pub(crate) rb_pos: RigidBodyPosition,
|
|
pub(crate) rb_mprops: RigidBodyMassProps,
|
|
pub(crate) rb_vels: RigidBodyVelocity,
|
|
pub(crate) rb_damping: RigidBodyDamping,
|
|
pub(crate) rb_forces: RigidBodyForces,
|
|
pub(crate) rb_ccd: RigidBodyCcd,
|
|
pub(crate) rb_ids: RigidBodyIds,
|
|
pub(crate) rb_colliders: RigidBodyColliders,
|
|
/// Whether or not this rigid-body is sleeping.
|
|
pub(crate) rb_activation: RigidBodyActivation,
|
|
pub(crate) changes: RigidBodyChanges,
|
|
/// The status of the body, governing how it is affected by external forces.
|
|
pub(crate) rb_type: RigidBodyType,
|
|
/// The dominance group this rigid-body is part of.
|
|
pub(crate) rb_dominance: RigidBodyDominance,
|
|
/// User-defined data associated to this rigid-body.
|
|
pub user_data: u128,
|
|
}
|
|
|
|
impl RigidBody {
|
|
fn new() -> Self {
|
|
Self {
|
|
rb_pos: RigidBodyPosition::default(),
|
|
rb_mprops: RigidBodyMassProps::default(),
|
|
rb_vels: RigidBodyVelocity::default(),
|
|
rb_damping: RigidBodyDamping::default(),
|
|
rb_forces: RigidBodyForces::default(),
|
|
rb_ccd: RigidBodyCcd::default(),
|
|
rb_ids: RigidBodyIds::default(),
|
|
rb_colliders: RigidBodyColliders::default(),
|
|
rb_activation: RigidBodyActivation::new_active(),
|
|
changes: RigidBodyChanges::all(),
|
|
rb_type: RigidBodyType::Dynamic,
|
|
rb_dominance: RigidBodyDominance::default(),
|
|
user_data: 0,
|
|
}
|
|
}
|
|
|
|
pub(crate) fn reset_internal_references(&mut self) {
|
|
self.rb_colliders.0 = Vec::new();
|
|
self.rb_ids = Default::default();
|
|
}
|
|
|
|
/// The activation status of this rigid-body.
|
|
pub fn activation(&self) -> &RigidBodyActivation {
|
|
&self.rb_activation
|
|
}
|
|
|
|
/// Mutable reference to the activation status of this rigid-body.
|
|
pub fn activation_mut(&mut self) -> &mut RigidBodyActivation {
|
|
self.changes |= RigidBodyChanges::SLEEP;
|
|
&mut self.rb_activation
|
|
}
|
|
|
|
/// The linear damping coefficient of this rigid-body.
|
|
#[inline]
|
|
pub fn linear_damping(&self) -> Real {
|
|
self.rb_damping.linear_damping
|
|
}
|
|
|
|
/// Sets the linear damping coefficient of this rigid-body.
|
|
#[inline]
|
|
pub fn set_linear_damping(&mut self, damping: Real) {
|
|
self.rb_damping.linear_damping = damping;
|
|
}
|
|
|
|
/// The angular damping coefficient of this rigid-body.
|
|
#[inline]
|
|
pub fn angular_damping(&self) -> Real {
|
|
self.rb_damping.angular_damping
|
|
}
|
|
|
|
/// Sets the angular damping coefficient of this rigid-body.
|
|
#[inline]
|
|
pub fn set_angular_damping(&mut self, damping: Real) {
|
|
self.rb_damping.angular_damping = damping
|
|
}
|
|
|
|
/// The type of this rigid-body.
|
|
pub fn body_type(&self) -> RigidBodyType {
|
|
self.rb_type
|
|
}
|
|
|
|
/// Sets the type of this rigid-body.
|
|
pub fn set_body_type(&mut self, status: RigidBodyType) {
|
|
if status != self.rb_type {
|
|
self.changes.insert(RigidBodyChanges::TYPE);
|
|
self.rb_type = status;
|
|
}
|
|
}
|
|
|
|
/// The mass properties of this rigid-body.
|
|
#[inline]
|
|
pub fn mass_properties(&self) -> &MassProperties {
|
|
&self.rb_mprops.mass_properties
|
|
}
|
|
|
|
/// The dominance group of this rigid-body.
|
|
///
|
|
/// This method always returns `i8::MAX + 1` for non-dynamic
|
|
/// rigid-bodies.
|
|
#[inline]
|
|
pub fn effective_dominance_group(&self) -> i16 {
|
|
self.rb_dominance.effective_group(&self.rb_type)
|
|
}
|
|
|
|
/// Are the translations of this rigid-body locked?
|
|
pub fn is_translation_locked(&self) -> bool {
|
|
self.rb_mprops
|
|
.flags
|
|
.contains(RigidBodyMassPropsFlags::TRANSLATION_LOCKED)
|
|
}
|
|
|
|
/// Are the rotations of this rigid-body locked?
|
|
#[cfg(feature = "dim2")]
|
|
pub fn is_rotation_locked(&self) -> bool {
|
|
self.rb_mprops
|
|
.flags
|
|
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z)
|
|
}
|
|
|
|
/// Returns `true` for each rotational degrees of freedom locked on this rigid-body.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn is_rotation_locked(&self) -> [bool; 3] {
|
|
[
|
|
self.rb_mprops
|
|
.flags
|
|
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_X),
|
|
self.rb_mprops
|
|
.flags
|
|
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y),
|
|
self.rb_mprops
|
|
.flags
|
|
.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z),
|
|
]
|
|
}
|
|
|
|
/// Enables of disable CCD (continuous collision-detection) for this rigid-body.
|
|
pub fn enable_ccd(&mut self, enabled: bool) {
|
|
self.rb_ccd.ccd_enabled = enabled;
|
|
}
|
|
|
|
/// Is CCD (continous collision-detection) enabled for this rigid-body?
|
|
pub fn is_ccd_enabled(&self) -> bool {
|
|
self.rb_ccd.ccd_enabled
|
|
}
|
|
|
|
// This is different from `is_ccd_enabled`. This checks that CCD
|
|
// is active for this rigid-body, i.e., if it was seen to move fast
|
|
// enough to justify a CCD run.
|
|
/// Is CCD active for this rigid-body?
|
|
///
|
|
/// The CCD is considered active if the rigid-body is moving at
|
|
/// a velocity greater than an automatically-computed threshold.
|
|
///
|
|
/// This is not the same as `self.is_ccd_enabled` which only
|
|
/// checks if CCD is allowed to run for this rigid-body or if
|
|
/// it is completely disabled (independently from its velocity).
|
|
pub fn is_ccd_active(&self) -> bool {
|
|
self.rb_ccd.ccd_active
|
|
}
|
|
|
|
/// Sets the rigid-body's initial mass properties.
|
|
///
|
|
/// 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_mass_properties(&mut self, props: MassProperties, wake_up: bool) {
|
|
if self.is_dynamic() && wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
|
|
self.rb_mprops.mass_properties = props;
|
|
self.update_world_mass_properties();
|
|
}
|
|
|
|
/// The handles of colliders attached to this rigid body.
|
|
pub fn colliders(&self) -> &[ColliderHandle] {
|
|
&self.rb_colliders.0[..]
|
|
}
|
|
|
|
/// Is this rigid body dynamic?
|
|
///
|
|
/// A dynamic body can move freely and is affected by forces.
|
|
pub fn is_dynamic(&self) -> bool {
|
|
self.rb_type == RigidBodyType::Dynamic
|
|
}
|
|
|
|
/// Is this rigid body kinematic?
|
|
///
|
|
/// A kinematic body can move freely but is not affected by forces.
|
|
pub fn is_kinematic(&self) -> bool {
|
|
self.rb_type == RigidBodyType::Kinematic
|
|
}
|
|
|
|
/// Is this rigid body static?
|
|
///
|
|
/// A static body cannot move and is not affected by forces.
|
|
pub fn is_static(&self) -> bool {
|
|
self.rb_type == RigidBodyType::Static
|
|
}
|
|
|
|
/// The mass of this rigid body.
|
|
///
|
|
/// Returns zero if this rigid body has an infinite mass.
|
|
pub fn mass(&self) -> Real {
|
|
utils::inv(self.rb_mprops.mass_properties.inv_mass)
|
|
}
|
|
|
|
/// The predicted position of this rigid-body.
|
|
///
|
|
/// If this rigid-body is kinematic this value is set by the `set_next_kinematic_position`
|
|
/// method and is used for estimating the kinematic body velocity at the next timestep.
|
|
/// For non-kinematic bodies, this value is currently unspecified.
|
|
pub fn next_position(&self) -> &Isometry<Real> {
|
|
&self.rb_pos.next_position
|
|
}
|
|
|
|
/// The scale factor applied to the gravity affecting this rigid-body.
|
|
pub fn gravity_scale(&self) -> Real {
|
|
self.rb_forces.gravity_scale
|
|
}
|
|
|
|
/// Sets the gravity scale facter for this rigid-body.
|
|
pub fn set_gravity_scale(&mut self, scale: Real, wake_up: bool) {
|
|
if wake_up && self.rb_activation.sleeping {
|
|
self.changes.insert(RigidBodyChanges::SLEEP);
|
|
self.rb_activation.sleeping = false;
|
|
}
|
|
|
|
self.rb_forces.gravity_scale = scale;
|
|
}
|
|
|
|
/// Adds a collider to this rigid-body.
|
|
// TODO ECS: we keep this public for now just to simply our experiments on bevy_rapier.
|
|
pub fn add_collider(
|
|
&mut self,
|
|
co_handle: ColliderHandle,
|
|
co_parent: &ColliderParent,
|
|
co_pos: &mut ColliderPosition,
|
|
co_shape: &ColliderShape,
|
|
co_mprops: &ColliderMassProperties,
|
|
) {
|
|
self.rb_colliders.attach_collider(
|
|
&mut self.changes,
|
|
&mut self.rb_ccd,
|
|
&mut self.rb_mprops,
|
|
&self.rb_pos,
|
|
co_handle,
|
|
co_pos,
|
|
co_parent,
|
|
co_shape,
|
|
co_mprops,
|
|
)
|
|
}
|
|
|
|
/// Removes a collider from this rigid-body.
|
|
pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) {
|
|
if let Some(i) = self.rb_colliders.0.iter().position(|e| *e == handle) {
|
|
self.changes.set(RigidBodyChanges::COLLIDERS, true);
|
|
self.rb_colliders.0.swap_remove(i);
|
|
let mass_properties = coll
|
|
.mass_properties()
|
|
.transform_by(coll.position_wrt_parent());
|
|
self.rb_mprops.mass_properties -= mass_properties;
|
|
self.update_world_mass_properties();
|
|
}
|
|
}
|
|
|
|
/// Put this rigid body to sleep.
|
|
///
|
|
/// A sleeping body no longer moves and is no longer simulated by the physics engine unless
|
|
/// it is waken up. It can be woken manually with `self.wake_up` or automatically due to
|
|
/// external forces like contacts.
|
|
pub fn sleep(&mut self) {
|
|
self.rb_activation.sleep();
|
|
self.rb_vels = RigidBodyVelocity::zero();
|
|
}
|
|
|
|
/// Wakes up this rigid body if it is sleeping.
|
|
///
|
|
/// If `strong` is `true` then it is assured that the rigid-body will
|
|
/// remain awake during multiple subsequent timesteps.
|
|
pub fn wake_up(&mut self, strong: bool) {
|
|
if self.rb_activation.sleeping {
|
|
self.changes.insert(RigidBodyChanges::SLEEP);
|
|
}
|
|
|
|
self.rb_activation.wake_up(strong);
|
|
}
|
|
|
|
/// Is this rigid body sleeping?
|
|
pub fn is_sleeping(&self) -> bool {
|
|
// TODO: should we:
|
|
// - return false for static bodies.
|
|
// - return true for non-sleeping dynamic bodies.
|
|
// - return true only for kinematic bodies with non-zero velocity?
|
|
self.rb_activation.sleeping
|
|
}
|
|
|
|
/// Is the velocity of this body not zero?
|
|
pub fn is_moving(&self) -> bool {
|
|
!self.rb_vels.linvel.is_zero() || !self.rb_vels.angvel.is_zero()
|
|
}
|
|
|
|
/// The linear velocity of this rigid-body.
|
|
pub fn linvel(&self) -> &Vector<Real> {
|
|
&self.rb_vels.linvel
|
|
}
|
|
|
|
/// The angular velocity of this rigid-body.
|
|
#[cfg(feature = "dim2")]
|
|
pub fn angvel(&self) -> Real {
|
|
self.rb_vels.angvel
|
|
}
|
|
|
|
/// The angular velocity of this rigid-body.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn angvel(&self) -> &Vector<Real> {
|
|
&self.rb_vels.angvel
|
|
}
|
|
|
|
/// The linear velocity of 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.
|
|
pub fn set_linvel(&mut self, linvel: Vector<Real>, wake_up: bool) {
|
|
self.rb_vels.linvel = linvel;
|
|
|
|
if self.is_dynamic() && wake_up {
|
|
self.wake_up(true)
|
|
}
|
|
}
|
|
|
|
/// The angular velocity of 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.
|
|
#[cfg(feature = "dim2")]
|
|
pub fn set_angvel(&mut self, angvel: Real, wake_up: bool) {
|
|
self.rb_vels.angvel = angvel;
|
|
|
|
if self.is_dynamic() && wake_up {
|
|
self.wake_up(true)
|
|
}
|
|
}
|
|
|
|
/// The angular velocity of 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.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn set_angvel(&mut self, angvel: Vector<Real>, wake_up: bool) {
|
|
self.rb_vels.angvel = angvel;
|
|
|
|
if self.is_dynamic() && wake_up {
|
|
self.wake_up(true)
|
|
}
|
|
}
|
|
|
|
/// The world-space position of this rigid-body.
|
|
#[inline]
|
|
pub fn position(&self) -> &Isometry<Real> {
|
|
&self.rb_pos.position
|
|
}
|
|
|
|
/// Sets the position and `next_kinematic_position` of this rigid body.
|
|
///
|
|
/// This will teleport the rigid-body to the specified position/orientation,
|
|
/// completely ignoring any physics rule. If this body is kinematic, this will
|
|
/// also set the next kinematic position to the same value, effectively
|
|
/// resetting to zero the next interpolated velocity of the kinematic 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.
|
|
pub fn set_position(&mut self, pos: Isometry<Real>, wake_up: bool) {
|
|
self.changes.insert(RigidBodyChanges::POSITION);
|
|
self.rb_pos.position = pos;
|
|
self.rb_pos.next_position = pos;
|
|
|
|
// TODO: Do we really need to check that the body isn't dynamic?
|
|
if wake_up && self.is_dynamic() {
|
|
self.wake_up(true)
|
|
}
|
|
}
|
|
|
|
/// If this rigid body is kinematic, sets its future position after the next timestep integration.
|
|
pub fn set_next_kinematic_position(&mut self, pos: Isometry<Real>) {
|
|
if self.is_kinematic() {
|
|
self.rb_pos.next_position = pos;
|
|
}
|
|
}
|
|
|
|
pub(crate) fn update_world_mass_properties(&mut self) {
|
|
self.rb_mprops
|
|
.update_world_mass_properties(&self.rb_pos.position);
|
|
}
|
|
}
|
|
|
|
/// ## Applying forces and torques
|
|
impl RigidBody {
|
|
/// Applies a force at the center-of-mass of this rigid-body.
|
|
/// The force will be applied in the next simulation step.
|
|
/// This does nothing on non-dynamic bodies.
|
|
pub fn apply_force(&mut self, force: Vector<Real>, wake_up: bool) {
|
|
if self.rb_type == RigidBodyType::Dynamic {
|
|
self.rb_forces.force += force;
|
|
|
|
if wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Applies a torque at the center-of-mass of this rigid-body.
|
|
/// The torque will be applied in the next simulation step.
|
|
/// This does nothing on non-dynamic bodies.
|
|
#[cfg(feature = "dim2")]
|
|
pub fn apply_torque(&mut self, torque: Real, wake_up: bool) {
|
|
if self.rb_type == RigidBodyType::Dynamic {
|
|
self.rb_forces.torque += torque;
|
|
|
|
if wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Applies a torque at the center-of-mass of this rigid-body.
|
|
/// The torque will be applied in the next simulation step.
|
|
/// This does nothing on non-dynamic bodies.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn apply_torque(&mut self, torque: Vector<Real>, wake_up: bool) {
|
|
if self.rb_type == RigidBodyType::Dynamic {
|
|
self.rb_forces.torque += torque;
|
|
|
|
if wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Applies a force at the given world-space point of this rigid-body.
|
|
/// The force will be applied in the next simulation step.
|
|
/// This does nothing on non-dynamic bodies.
|
|
pub fn apply_force_at_point(&mut self, force: Vector<Real>, point: Point<Real>, wake_up: bool) {
|
|
if self.rb_type == RigidBodyType::Dynamic {
|
|
self.rb_forces.force += force;
|
|
self.rb_forces.torque += (point - self.rb_mprops.world_com).gcross(force);
|
|
|
|
if wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/// ## Applying impulses and angular impulses
|
|
impl RigidBody {
|
|
/// Applies an impulse at the center-of-mass of this rigid-body.
|
|
/// The impulse is applied right away, changing the linear velocity.
|
|
/// This does nothing on non-dynamic bodies.
|
|
pub fn apply_impulse(&mut self, impulse: Vector<Real>, wake_up: bool) {
|
|
if self.rb_type == RigidBodyType::Dynamic {
|
|
self.rb_vels.linvel += impulse * self.rb_mprops.effective_inv_mass;
|
|
|
|
if wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Applies an angular impulse at the center-of-mass of this rigid-body.
|
|
/// The impulse is applied right away, changing the angular velocity.
|
|
/// This does nothing on non-dynamic bodies.
|
|
#[cfg(feature = "dim2")]
|
|
pub fn apply_torque_impulse(&mut self, torque_impulse: Real, wake_up: bool) {
|
|
if self.rb_type == RigidBodyType::Dynamic {
|
|
self.rb_vels.angvel += self.rb_mprops.effective_world_inv_inertia_sqrt
|
|
* (self.rb_mprops.effective_world_inv_inertia_sqrt * torque_impulse);
|
|
|
|
if wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Applies an angular impulse at the center-of-mass of this rigid-body.
|
|
/// The impulse is applied right away, changing the angular velocity.
|
|
/// This does nothing on non-dynamic bodies.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn apply_torque_impulse(&mut self, torque_impulse: Vector<Real>, wake_up: bool) {
|
|
if self.rb_type == RigidBodyType::Dynamic {
|
|
self.rb_vels.angvel += self.rb_mprops.effective_world_inv_inertia_sqrt
|
|
* (self.rb_mprops.effective_world_inv_inertia_sqrt * torque_impulse);
|
|
|
|
if wake_up {
|
|
self.wake_up(true);
|
|
}
|
|
}
|
|
}
|
|
|
|
/// Applies an impulse at the given world-space point of this rigid-body.
|
|
/// The impulse is applied right away, changing the linear and/or angular velocities.
|
|
/// This does nothing on non-dynamic bodies.
|
|
pub fn apply_impulse_at_point(
|
|
&mut self,
|
|
impulse: Vector<Real>,
|
|
point: Point<Real>,
|
|
wake_up: bool,
|
|
) {
|
|
let torque_impulse = (point - self.rb_mprops.world_com).gcross(impulse);
|
|
self.apply_impulse(impulse, wake_up);
|
|
self.apply_torque_impulse(torque_impulse, wake_up);
|
|
}
|
|
}
|
|
|
|
impl RigidBody {
|
|
/// The velocity of the given world-space point on this rigid-body.
|
|
pub fn velocity_at_point(&self, point: &Point<Real>) -> Vector<Real> {
|
|
self.rb_vels
|
|
.velocity_at_point(point, &self.rb_mprops.world_com)
|
|
}
|
|
|
|
/// The kinetic energy of this body.
|
|
pub fn kinetic_energy(&self) -> Real {
|
|
self.rb_vels.kinetic_energy(&self.rb_mprops)
|
|
}
|
|
|
|
/// The potential energy of this body in a gravity field.
|
|
pub fn gravitational_potential_energy(&self, dt: Real, gravity: Vector<Real>) -> Real {
|
|
let world_com = self
|
|
.rb_mprops
|
|
.mass_properties
|
|
.world_com(&self.rb_pos.position)
|
|
.coords;
|
|
|
|
// Project position back along velocity vector one half-step (leap-frog)
|
|
// to sync up the potential energy with the kinetic energy:
|
|
let world_com = world_com - self.rb_vels.linvel * (dt / 2.0);
|
|
|
|
-self.mass() * self.rb_forces.gravity_scale * gravity.dot(&world_com)
|
|
}
|
|
}
|
|
|
|
/// A builder for rigid-bodies.
|
|
pub struct RigidBodyBuilder {
|
|
position: Isometry<Real>,
|
|
linvel: Vector<Real>,
|
|
angvel: AngVector<Real>,
|
|
gravity_scale: Real,
|
|
linear_damping: Real,
|
|
angular_damping: Real,
|
|
rb_type: RigidBodyType,
|
|
mprops_flags: RigidBodyMassPropsFlags,
|
|
mass_properties: MassProperties,
|
|
can_sleep: bool,
|
|
sleeping: bool,
|
|
ccd_enabled: bool,
|
|
dominance_group: i8,
|
|
user_data: u128,
|
|
}
|
|
|
|
impl RigidBodyBuilder {
|
|
/// Initialize a new builder for a rigid body which is either static, dynamic, or kinematic.
|
|
pub fn new(rb_type: RigidBodyType) -> Self {
|
|
Self {
|
|
position: Isometry::identity(),
|
|
linvel: Vector::zeros(),
|
|
angvel: na::zero(),
|
|
gravity_scale: 1.0,
|
|
linear_damping: 0.0,
|
|
angular_damping: 0.0,
|
|
rb_type,
|
|
mprops_flags: RigidBodyMassPropsFlags::empty(),
|
|
mass_properties: MassProperties::zero(),
|
|
can_sleep: true,
|
|
sleeping: false,
|
|
ccd_enabled: false,
|
|
dominance_group: 0,
|
|
user_data: 0,
|
|
}
|
|
}
|
|
|
|
/// Initializes the builder of a new static rigid body.
|
|
pub fn new_static() -> Self {
|
|
Self::new(RigidBodyType::Static)
|
|
}
|
|
|
|
/// Initializes the builder of a new kinematic rigid body.
|
|
pub fn new_kinematic() -> Self {
|
|
Self::new(RigidBodyType::Kinematic)
|
|
}
|
|
|
|
/// Initializes the builder of a new dynamic rigid body.
|
|
pub fn new_dynamic() -> Self {
|
|
Self::new(RigidBodyType::Dynamic)
|
|
}
|
|
|
|
/// Sets the scale applied to the gravity force affecting the rigid-body to be created.
|
|
pub fn gravity_scale(mut self, x: Real) -> Self {
|
|
self.gravity_scale = x;
|
|
self
|
|
}
|
|
|
|
/// Sets the dominance group of this rigid-body.
|
|
pub fn dominance_group(mut self, group: i8) -> Self {
|
|
self.dominance_group = group;
|
|
self
|
|
}
|
|
|
|
/// Sets the initial translation of the rigid-body to be created.
|
|
#[cfg(feature = "dim2")]
|
|
pub fn translation(mut self, x: Real, y: Real) -> Self {
|
|
self.position.translation.x = x;
|
|
self.position.translation.y = y;
|
|
self
|
|
}
|
|
|
|
/// Sets the initial translation of the rigid-body to be created.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn translation(mut self, x: Real, y: Real, z: Real) -> Self {
|
|
self.position.translation.x = x;
|
|
self.position.translation.y = y;
|
|
self.position.translation.z = z;
|
|
self
|
|
}
|
|
|
|
/// Sets the initial orientation of the rigid-body to be created.
|
|
pub fn rotation(mut self, angle: AngVector<Real>) -> Self {
|
|
self.position.rotation = Rotation::new(angle);
|
|
self
|
|
}
|
|
|
|
/// Sets the initial position (translation and orientation) of the rigid-body to be created.
|
|
pub fn position(mut self, pos: Isometry<Real>) -> Self {
|
|
self.position = pos;
|
|
self
|
|
}
|
|
|
|
/// An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.
|
|
pub fn user_data(mut self, data: u128) -> Self {
|
|
self.user_data = data;
|
|
self
|
|
}
|
|
|
|
/// 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
|
|
/// 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
|
|
/// only attach colliders with densities equal to zero.
|
|
pub fn additional_mass_properties(mut self, props: MassProperties) -> Self {
|
|
self.mass_properties = props;
|
|
self
|
|
}
|
|
|
|
/// Prevents this rigid-body from translating because of forces.
|
|
pub fn lock_translations(mut self) -> Self {
|
|
self.mprops_flags
|
|
.set(RigidBodyMassPropsFlags::TRANSLATION_LOCKED, true);
|
|
self
|
|
}
|
|
|
|
/// Prevents this rigid-body from rotating because of forces.
|
|
pub fn lock_rotations(mut self) -> Self {
|
|
self.mprops_flags
|
|
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_X, true);
|
|
self.mprops_flags
|
|
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y, true);
|
|
self.mprops_flags
|
|
.set(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z, true);
|
|
self
|
|
}
|
|
|
|
/// Only allow rotations of this rigid-body around specific coordinate axes.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn restrict_rotations(
|
|
mut self,
|
|
allow_rotations_x: bool,
|
|
allow_rotations_y: bool,
|
|
allow_rotations_z: bool,
|
|
) -> Self {
|
|
self.mprops_flags.set(
|
|
RigidBodyMassPropsFlags::ROTATION_LOCKED_X,
|
|
!allow_rotations_x,
|
|
);
|
|
self.mprops_flags.set(
|
|
RigidBodyMassPropsFlags::ROTATION_LOCKED_Y,
|
|
!allow_rotations_y,
|
|
);
|
|
self.mprops_flags.set(
|
|
RigidBodyMassPropsFlags::ROTATION_LOCKED_Z,
|
|
!allow_rotations_z,
|
|
);
|
|
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.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.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.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
|
|
/// will slow-down its translational movement.
|
|
pub fn linear_damping(mut self, factor: Real) -> Self {
|
|
self.linear_damping = factor;
|
|
self
|
|
}
|
|
|
|
/// Sets the damping factor for the angular part of the rigid-body motion.
|
|
///
|
|
/// The higher the angular damping factor is, the more quickly the rigid-body
|
|
/// will slow-down its rotational movement.
|
|
pub fn angular_damping(mut self, factor: Real) -> Self {
|
|
self.angular_damping = factor;
|
|
self
|
|
}
|
|
|
|
/// Sets the initial linear velocity of the rigid-body to be created.
|
|
#[cfg(feature = "dim2")]
|
|
pub fn linvel(mut self, x: Real, y: Real) -> Self {
|
|
self.linvel = Vector::new(x, y);
|
|
self
|
|
}
|
|
|
|
/// Sets the initial linear velocity of the rigid-body to be created.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn linvel(mut self, x: Real, y: Real, z: Real) -> Self {
|
|
self.linvel = Vector::new(x, y, z);
|
|
self
|
|
}
|
|
|
|
/// Sets the initial angular velocity of the rigid-body to be created.
|
|
pub fn angvel(mut self, angvel: AngVector<Real>) -> Self {
|
|
self.angvel = angvel;
|
|
self
|
|
}
|
|
|
|
/// Sets whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.
|
|
pub fn can_sleep(mut self, can_sleep: bool) -> Self {
|
|
self.can_sleep = can_sleep;
|
|
self
|
|
}
|
|
|
|
/// Enabled continuous collision-detection for this rigid-body.
|
|
pub fn ccd_enabled(mut self, enabled: bool) -> Self {
|
|
self.ccd_enabled = enabled;
|
|
self
|
|
}
|
|
|
|
/// Sets whether or not the rigid-body is to be created asleep.
|
|
pub fn sleeping(mut self, sleeping: bool) -> Self {
|
|
self.sleeping = sleeping;
|
|
self
|
|
}
|
|
|
|
/// Build a new rigid-body with the parameters configured with this builder.
|
|
pub fn build(&self) -> RigidBody {
|
|
let mut rb = RigidBody::new();
|
|
rb.rb_pos.next_position = self.position; // FIXME: compute the correct value?
|
|
rb.rb_pos.position = self.position;
|
|
rb.rb_vels.linvel = self.linvel;
|
|
rb.rb_vels.angvel = self.angvel;
|
|
rb.rb_type = self.rb_type;
|
|
rb.user_data = self.user_data;
|
|
rb.rb_mprops.mass_properties = self.mass_properties;
|
|
rb.rb_mprops.flags = self.mprops_flags;
|
|
rb.rb_damping.linear_damping = self.linear_damping;
|
|
rb.rb_damping.angular_damping = self.angular_damping;
|
|
rb.rb_forces.gravity_scale = self.gravity_scale;
|
|
rb.rb_dominance = RigidBodyDominance(self.dominance_group);
|
|
rb.enable_ccd(self.ccd_enabled);
|
|
|
|
if self.can_sleep && self.sleeping {
|
|
rb.sleep();
|
|
}
|
|
|
|
if !self.can_sleep {
|
|
rb.rb_activation.threshold = -1.0;
|
|
}
|
|
|
|
rb
|
|
}
|
|
}
|