Give access to the world-space mass properties of rigid-bodies

src/dynamics/rigid_body.rs

@@ -158,8 +158,8 @@ impl RigidBody {
 
     /// The mass-properties of this rigid-body.
     #[inline]
-    pub fn mass_properties(&self) -> &MassProperties {
-        &self.mprops.local_mprops
+    pub fn mass_properties(&self) -> &RigidBodyMassProps {
+        &self.mprops
     }
 
     /// The dominance group of this rigid-body.

src/dynamics/rigid_body_components.rs

@@ -245,7 +245,7 @@ impl Default for RigidBodyAdditionalMassProps {
 
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[derive(Clone, Debug, PartialEq)]
-/// The mass properties of this rigid-bodies.
+/// The mass properties of a rigid-body.
 pub struct RigidBodyMassProps {
     /// Flags for locking rotation and translation.
     pub flags: LockedAxes,