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Properly take initial sleeping state set by the user when creating a rigid-body

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Sébastien Crozet
2022-12-11 17:47:16 +01:00
parent cb9350fd80
commit 0207f8cf96
6 changed files with 46 additions and 21 deletions
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20
src/dynamics/island_manager.rs
View File

@@ -1,6 +1,6 @@
use crate::dynamics::{
ImpulseJointSet, MultibodyJointSet, RigidBodyActivation, RigidBodyColliders, RigidBodyHandle,
RigidBodyIds, RigidBodySet, RigidBodyType, RigidBodyVelocity,
ImpulseJointSet, MultibodyJointSet, RigidBodyActivation, RigidBodyChanges, RigidBodyColliders,
RigidBodyHandle, RigidBodyIds, RigidBodySet, RigidBodyType, RigidBodyVelocity,
};
use crate::geometry::{ColliderSet, NarrowPhase};
use crate::math::Real;
@@ -96,12 +96,18 @@ impl IslandManager {
// attempting to wake-up a rigid-body that has already been deleted.
if bodies.get(handle).map(|rb| rb.body_type()) == Some(RigidBodyType::Dynamic) {
let rb = bodies.index_mut_internal(handle);
rb.activation.wake_up(strong);
if rb.is_enabled() && self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle)
{
rb.ids.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
// Check that the user didn’t change the sleeping state explicitly, in which
// case we don’t overwrite it.
if !rb.changes.contains(RigidBodyChanges::SLEEP) {
rb.activation.wake_up(strong);
if rb.is_enabled()
&& self.active_dynamic_set.get(rb.ids.active_set_id) != Some(&handle)
{
rb.ids.active_set_id = self.active_dynamic_set.len();
self.active_dynamic_set.push(handle);
}
}
}
}

6
src/dynamics/rigid_body.rs
View File

@@ -135,7 +135,7 @@ impl RigidBody {
}
/// Sets the type of this rigid-body.
pub fn set_body_type(&mut self, status: RigidBodyType) {
pub fn set_body_type(&mut self, status: RigidBodyType, wake_up: bool) {
if status != self.body_type {
self.changes.insert(RigidBodyChanges::TYPE);
self.body_type = status;
@@ -143,6 +143,10 @@ impl RigidBody {
if status == RigidBodyType::Fixed {
self.vels = RigidBodyVelocity::zero();
}
if self.is_dynamic() && wake_up {
self.wake_up(true);
}
}
}