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Allow locking individual translational axes

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This commit is contained in:
Sébastien Crozet
2022-01-09 22:15:36 +01:00
parent 2bfceadf06
commit b631fe9193
16 changed files with 216 additions and 105 deletions
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66
src/dynamics/rigid_body.rs
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@@ -195,7 +195,48 @@ impl RigidBody {
}
}
#[inline]
/// Locks or unlocks rotations of this rigid-body along each cartesian axes.
pub fn restrict_translations(
&mut self,
allow_translation_x: bool,
allow_translation_y: bool,
#[cfg(feature = "dim3")] allow_translation_z: bool,
wake_up: bool,
) {
if self.is_dynamic() {
if wake_up {
self.wake_up(true);
}
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::TRANSLATION_LOCKED_X,
!allow_translation_x,
);
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::TRANSLATION_LOCKED_Y,
!allow_translation_y,
);
#[cfg(feature = "dim3")]
self.rb_mprops.flags.set(
RigidBodyMassPropsFlags::TRANSLATION_LOCKED_Z,
!allow_translation_z,
);
self.update_world_mass_properties();
}
}
/// Are the translations of this rigid-body locked?
#[cfg(feature = "dim2")]
pub fn is_translation_locked(&self) -> bool {
self.rb_mprops.flags.contains(
RigidBodyMassPropsFlags::TRANSLATION_LOCKED_X
| RigidBodyMassPropsFlags::TRANSLATION_LOCKED_Y,
)
}
/// Are the translations of this rigid-body locked?
#[cfg(feature = "dim3")]
pub fn is_translation_locked(&self) -> bool {
self.rb_mprops
.flags
@@ -633,7 +674,7 @@ impl RigidBody {
/// This does nothing on non-dynamic bodies.
pub fn apply_impulse(&mut self, impulse: Vector<Real>, wake_up: bool) {
if self.rb_type == RigidBodyType::Dynamic {
self.rb_vels.linvel += impulse * self.rb_mprops.effective_inv_mass;
self.rb_vels.linvel += impulse.component_mul(&self.rb_mprops.effective_inv_mass);
if wake_up {
self.wake_up(true);
@@ -847,6 +888,29 @@ impl RigidBodyBuilder {
self
}
/// Only allow translations of this rigid-body around specific coordinate axes.
pub fn restrict_translations(
mut self,
allow_translations_x: bool,
allow_translations_y: bool,
#[cfg(feature = "dim3")] allow_translations_z: bool,
) -> Self {
self.mprops_flags.set(
RigidBodyMassPropsFlags::TRANSLATION_LOCKED_X,
!allow_translations_x,
);
self.mprops_flags.set(
RigidBodyMassPropsFlags::TRANSLATION_LOCKED_Y,
!allow_translations_y,
);
#[cfg(feature = "dim3")]
self.mprops_flags.set(
RigidBodyMassPropsFlags::TRANSLATION_LOCKED_Z,
!allow_translations_z,
);
self
}
/// Prevents this rigid-body from rotating because of forces.
pub fn lock_rotations(mut self) -> Self {
self.mprops_flags