Rename RigidBodyBuilder::principal_inertia -> principal_angular_inertia for clarity.

CHANGELOG.md

@@ -1,3 +1,7 @@
+## v0.4.1
+- The `RigidBodyBuilder::principal_inertia` method has been deprecated and renamed to
+  `principal_angular_inertia` for clarity.
+
 ## v0.4.0
 - The rigid-body `linvel`, `angvel`, and `position` fields are no longer public. Access using
   their corresponding getters/setters. For example: `rb.linvel()`, `rb.set_linvel(vel, true)`.

examples2d/all_examples2.rs

@@ -16,7 +16,7 @@ mod damping2;
 mod debug_box_ball2;
 mod heightfield2;
 mod joints2;
-mod locked_rotation2;
+mod locked_rotations2;
 mod platform2;
 mod pyramid2;
 mod restitution2;
@@ -60,7 +60,7 @@ pub fn main() {
         ("Damping", damping2::init_world),
         ("Heightfield", heightfield2::init_world),
         ("Joints", joints2::init_world),
-        ("Locked rotations", locked_rotation2::init_world),
+        ("Locked rotations", locked_rotations2::init_world),
         ("Platform", platform2::init_world),
         ("Pyramid", pyramid2::init_world),
         ("Restitution", restitution2::init_world),

examples3d/all_examples3.rs

@@ -26,7 +26,7 @@ mod fountain3;
 mod heightfield3;
 mod joints3;
 mod keva3;
-mod locked_rotation3;
+mod locked_rotations3;
 mod platform3;
 mod primitives3;
 mod restitution3;
@@ -79,7 +79,7 @@ pub fn main() {
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
         ("Joints", joints3::init_world),
-        ("Locked rotations", locked_rotation3::init_world),
+        ("Locked rotations", locked_rotations3::init_world),
         ("Platform", platform3::init_world),
         ("Restitution", restitution3::init_world),
         ("Stacks", stacks3::init_world),

examples3d/debug_add_remove_collider3.rs

@@ -1,4 +1,4 @@
-use na::{Isometry3, Point3, Vector3};
+use na::Point3;
 use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
 use rapier3d::geometry::{ColliderBuilder, ColliderSet};
 use rapier_testbed3d::Testbed;

examples3d/debug_dynamic_collider_add3.rs

@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
@@ -60,7 +60,7 @@ pub fn init_world(testbed: &mut Testbed) {
         extra_colliders.push(new_ball_collider_handle);
 
         // Snap the ball velocity or restore it.
-        let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
+        let ball = physics.bodies.get_mut(ball_handle).unwrap();
 
         if step == snapped_frame {
             linvel = *ball.linvel();

examples3d/debug_rollback3.rs

@@ -24,7 +24,7 @@ pub fn init_world(testbed: &mut Testbed) {
         .friction(0.15)
         // .restitution(0.5)
         .build();
-    let mut ground_collider_handle = colliders.insert(collider, ground_handle, &mut bodies);
+    colliders.insert(collider, ground_handle, &mut bodies);
 
     /*
      * Rolling ball
@@ -44,11 +44,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut step = 0;
     let snapped_frame = 51;
 
-    testbed.add_callback(move |window, physics, _, graphics, _| {
+    testbed.add_callback(move |_, physics, _, _, _| {
         step += 1;
 
         // Snap the ball velocity or restore it.
-        let mut ball = physics.bodies.get_mut(ball_handle).unwrap();
+        let ball = physics.bodies.get_mut(ball_handle).unwrap();
 
         if step == snapped_frame {
             linvel = *ball.linvel();

examples3d/locked_rotations3.rs

@@ -33,7 +33,7 @@ pub fn init_world(testbed: &mut Testbed) {
     let rigid_body = RigidBodyBuilder::new_dynamic()
         .translation(0.0, 3.0, 0.0)
         .lock_translations()
-        .principal_inertia(Vector3::zeros(), Vector3::new(true, false, false))
+        .principal_angular_inertia(Vector3::zeros(), Vector3::new(true, false, false))
         .build();
     let handle = bodies.insert(rigid_body);
     let collider = ColliderBuilder::cuboid(0.2, 0.6, 2.0).build();

src/dynamics/rigid_body.rs

@@ -646,9 +646,9 @@ impl RigidBodyBuilder {
     /// See the documentation of [`RigidBodyBuilder::principal_inertia`] for more details.
     pub fn lock_rotations(self) -> Self {
         #[cfg(feature = "dim2")]
-        return self.principal_inertia(0.0, false);
+        return self.principal_angular_inertia(0.0, false);
         #[cfg(feature = "dim3")]
-        return self.principal_inertia(Vector::zeros(), Vector::repeat(false));
+        return self.principal_angular_inertia(Vector::zeros(), Vector::repeat(false));
     }
 
     /// Sets the mass of the rigid-body being built.
@@ -670,7 +670,6 @@ impl RigidBodyBuilder {
         );
         self
     }
-
     /// Sets the angular inertia of this rigid-body.
     ///
     /// In order to lock the rotations of this rigid-body (by
@@ -682,7 +681,11 @@ impl RigidBodyBuilder {
     /// will depend on the initial principal inertia set by this method to which is added
     /// the contributions of all the colliders with non-zero density attached to this rigid-body.
     #[cfg(feature = "dim2")]
-    pub fn principal_inertia(mut self, inertia: f32, colliders_contribution_enabled: bool) -> Self {
+    pub fn principal_angular_inertia(
+        mut self,
+        inertia: f32,
+        colliders_contribution_enabled: bool,
+    ) -> Self {
         self.mass_properties.inv_principal_inertia_sqrt = utils::inv(inertia);
         self.flags.set(
             RigidBodyFlags::IGNORE_COLLIDER_ANGULAR_INERTIA_X
@@ -693,6 +696,13 @@ impl RigidBodyBuilder {
         self
     }
 
+    /// Use `self.principal_angular_inertia` instead.
+    #[cfg(feature = "dim2")]
+    #[deprecated(note = "renamed to `principal_angular_inertia`.")]
+    pub fn principal_inertia(self, inertia: f32, colliders_contribution_enabled: bool) -> Self {
+        self.principal_angular_inertia(inertia, colliders_contribution_enabled)
+    }
+
     /// Sets the principal angular inertia of this rigid-body.
     ///
     /// In order to lock the rotations of this rigid-body (by
@@ -706,7 +716,7 @@ impl RigidBodyBuilder {
     /// to which is added the contributions of all the colliders with non-zero density
     /// attached to this rigid-body.
     #[cfg(feature = "dim3")]
-    pub fn principal_inertia(
+    pub fn principal_angular_inertia(
         mut self,
         inertia: AngVector<f32>,
         colliders_contribution_enabled: AngVector<bool>,
@@ -727,6 +737,17 @@ impl RigidBodyBuilder {
         self
     }
 
+    /// Use `self.principal_angular_inertia` instead.
+    #[cfg(feature = "dim3")]
+    #[deprecated(note = "renamed to `principal_angular_inertia`.")]
+    pub fn principal_inertia(
+        self,
+        inertia: AngVector<f32>,
+        colliders_contribution_enabled: AngVector<bool>,
+    ) -> Self {
+        self.principal_angular_inertia(inertia, colliders_contribution_enabled)
+    }
+
     /// Sets the damping factor for the linear part of the rigid-body motion.
     ///
     /// The higher the linear damping factor is, the more quickly the rigid-body