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Allow several rules for combining friction/restitution coefficients.

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Crozet Sébastien
2021-01-21 16:03:27 +01:00
parent 8f330b2a00
commit 98d3980db7
7 changed files with 414 additions and 299 deletions
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4
src/dynamics/rigid_body.rs
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@@ -62,8 +62,10 @@ pub struct RigidBody {
pub(crate) mass_properties: MassProperties,
/// The world-space center of mass of the rigid-body.
pub world_com: Point<Real>,
/// The inverse mass taking into account translation locking.
pub effective_inv_mass: Real,
/// The square-root of the inverse angular inertia tensor of the rigid-body.
/// The square-root of the world-space inverse angular inertia tensor of the rigid-body,
/// taking into account rotation locking.
pub effective_world_inv_inertia_sqrt: AngularInertia<Real>,
/// The linear velocity of the rigid-body.
pub(crate) linvel: Vector<Real>,