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Fix mass property update when adding a collider.

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This commit is contained in:
Sébastien Crozet
2020-09-01 17:05:24 +02:00
parent 9622827dc6
commit 2f2a073ce4
7 changed files with 127 additions and 64 deletions
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10
src/dynamics/rigid_body.rs
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@@ -139,7 +139,9 @@ impl RigidBody {
/// Adds a collider to this rigid-body.
pub(crate) fn add_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) {
let mass_properties = coll.mass_properties();
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent());
self.colliders.push(handle);
self.mass_properties += mass_properties;
self.update_world_mass_properties();
@@ -149,7 +151,9 @@ impl RigidBody {
pub(crate) fn remove_collider_internal(&mut self, handle: ColliderHandle, coll: &Collider) {
if let Some(i) = self.colliders.iter().position(|e| *e == handle) {
self.colliders.swap_remove(i);
let mass_properties = coll.mass_properties();
let mass_properties = coll
.mass_properties()
.transform_by(coll.position_wrt_parent());
self.mass_properties -= mass_properties;
self.update_world_mass_properties();
}
@@ -189,7 +193,7 @@ impl RigidBody {
}
fn integrate_velocity(&self, dt: f32) -> Isometry<f32> {
let com = &self.position * self.mass_properties.local_com; // FIXME: use non-origin center of masses.
let com = &self.position * self.mass_properties.local_com;
let shift = Translation::from(com.coords);
shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
}