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Add methods to set the translation or rotation wrt. a collider and its parent.

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Crozet Sébastien
2021-07-05 16:06:03 +02:00
committed by Sébastien Crozet
parent 77a6cd3f26
commit 8e0aa2ac79
1 changed files with 21 additions and 7 deletions
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28
src/geometry/collider.rs
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@@ -174,16 +174,30 @@ impl Collider {
self.co_parent.as_ref().map(|p| &p.pos_wrt_parent)
}
/// Sets the translational part of this collider's translation relative to its parent rigid-body.
pub fn set_translation_wrt_parent(&mut self, translation: Vector<Real>) {
if let Some(co_parent) = self.co_parent.as_mut() {
self.co_changes.insert(ColliderChanges::PARENT);
co_parent.pos_wrt_parent.translation.vector = translation;
}
}
/// Sets the rotational part of this collider's rotaiton relative to its parent rigid-body.
pub fn set_rotation_wrt_parent(&mut self, rotation: AngVector<Real>) {
if let Some(co_parent) = self.co_parent.as_mut() {
self.co_changes.insert(ColliderChanges::PARENT);
co_parent.pos_wrt_parent.rotation = Rotation::new(rotation);
}
}
/// Sets the position of this collider wrt. its parent rigid-body.
///
/// Panics if the collider is not attached to a rigid-body.
/// Does nothing if the collider is not attached to a rigid-body.
pub fn set_position_wrt_parent(&mut self, pos_wrt_parent: Isometry<Real>) {
self.co_changes.insert(ColliderChanges::PARENT);
let co_parent = self
.co_parent
.as_mut()
.expect("This collider has no parent.");
co_parent.pos_wrt_parent = pos_wrt_parent;
if let Some(co_parent) = self.co_parent.as_mut() {
self.co_changes.insert(ColliderChanges::PARENT);
co_parent.pos_wrt_parent = pos_wrt_parent;
}
}
/// The collision groups used by this collider.