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Allow customising the time until sleep for a rigid body

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fabriceci
2023-01-23 16:05:21 +01:00
parent 1a4183cc94
commit 4ff84319a0
2 changed files with 7 additions and 4 deletions
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8
src/dynamics/rigid_body_components.rs
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@@ -978,6 +978,8 @@ pub struct RigidBodyActivation {
pub linear_threshold: Real,
/// The angular linear velocity bellow which the body can fall asleep.
pub angular_threshold: Real,
/// The amount of time the rigid-body must remain below the thresholds to be put to sleep.
pub time_until_sleep: Real,
/// Since how much time can this body sleep?
pub time_since_can_sleep: Real,
/// Is this body sleeping?
@@ -1012,6 +1014,7 @@ impl RigidBodyActivation {
RigidBodyActivation {
linear_threshold: Self::default_linear_threshold(),
angular_threshold: Self::default_angular_threshold(),
time_until_sleep: Self::default_time_until_sleep(),
time_since_can_sleep: 0.0,
sleeping: false,
}
@@ -1022,8 +1025,9 @@ impl RigidBodyActivation {
RigidBodyActivation {
linear_threshold: Self::default_linear_threshold(),
angular_threshold: Self::default_angular_threshold(),
sleeping: true,
time_until_sleep: Self::default_time_until_sleep(),
time_since_can_sleep: Self::default_time_until_sleep(),
sleeping: true,
}
}
@@ -1055,6 +1059,6 @@ impl RigidBodyActivation {
#[inline]
pub fn sleep(&mut self) {
self.sleeping = true;
self.time_since_can_sleep = Self::default_time_until_sleep();
self.time_since_can_sleep = self.time_until_sleep;
}
}