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Merge pull request #380 from dimforge/set-rotation

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Make Collider::set_rotation and RigidBody::set_rotation take a rotation instead of an axis-angle.
This commit is contained in:
Sébastien Crozet
2022-08-09 09:58:39 +02:00
parent 1dddb7de9f a19c6131ff
commit 68d250f0ad
3 changed files with 11 additions and 7 deletions
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6
CHANGELOG.md
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@@ -1,3 +1,9 @@
## Unreleased
### Modified
- The methods `Collider::set_rotation`, `RigidBody::set_rotation`, and `RigidBody::set_next_kinematic_rotation` now
take a rotation (`UnitQuaternion` or `UnitComplex`) instead of a vector/angle.
## v0.14.0 (09 July 2022) ## v0.14.0 (09 July 2022)
### Fixed ### Fixed
- Fix unpredictable broad-phase panic when using small colliders in the simulation. - Fix unpredictable broad-phase panic when using small colliders in the simulation.

8
src/dynamics/rigid_body.rs
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@@ -681,9 +681,7 @@ impl RigidBody {
/// Sets the rotational part of this rigid-body's position. /// Sets the rotational part of this rigid-body's position.
#[inline] #[inline]
pub fn set_rotation(&mut self, rotation: AngVector<Real>, wake_up: bool) { pub fn set_rotation(&mut self, rotation: Rotation<Real>, wake_up: bool) {
let rotation = Rotation::new(rotation);
if self.pos.position.rotation != rotation || self.pos.next_position.rotation != rotation { if self.pos.position.rotation != rotation || self.pos.next_position.rotation != rotation {
self.changes.insert(RigidBodyChanges::POSITION); self.changes.insert(RigidBodyChanges::POSITION);
self.pos.position.rotation = rotation; self.pos.position.rotation = rotation;
@@ -719,9 +717,9 @@ impl RigidBody {
} }
/// If this rigid body is kinematic, sets its future translation after the next timestep integration. /// If this rigid body is kinematic, sets its future translation after the next timestep integration.
pub fn set_next_kinematic_rotation(&mut self, rotation: AngVector<Real>) { pub fn set_next_kinematic_rotation(&mut self, rotation: Rotation<Real>) {
if self.is_kinematic() { if self.is_kinematic() {
self.pos.next_position.rotation = Rotation::new(rotation); self.pos.next_position.rotation = rotation;
} }
} }

4
src/geometry/collider.rs
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@@ -161,9 +161,9 @@ impl Collider {
} }
/// Sets the rotational part of this collider's position. /// Sets the rotational part of this collider's position.
pub fn set_rotation(&mut self, rotation: AngVector<Real>) { pub fn set_rotation(&mut self, rotation: Rotation<Real>) {
self.changes.insert(ColliderChanges::POSITION); self.changes.insert(ColliderChanges::POSITION);
self.pos.0.rotation = Rotation::new(rotation); self.pos.0.rotation = rotation;
} }
/// Sets the position of this collider. /// Sets the position of this collider.