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ImpulseJointSet::get_mut option to wake up connected bodies (#716)

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This commit is contained in:
Thierry Berger
2024-09-13 10:48:56 +02:00
committed by GitHub
parent 04058a111d
commit c714ff81f2
5 changed files with 51 additions and 27 deletions
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14
examples3d/vehicle_joints3.rs
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@@ -158,14 +158,17 @@ pub fn init_world(testbed: &mut Testbed) {
_ => {}
}
}
let mut should_wake_up = false;
if thrust != 0.0 || steering != 0.0 {
physics.bodies.get_mut(body_handle).unwrap().wake_up(true);
should_wake_up = true;
}
// Apply steering to the axles.
for steering_handle in &steering_joints {
let steering_joint = physics.impulse_joints.get_mut(*steering_handle).unwrap();
let steering_joint = physics
.impulse_joints
.get_mut(*steering_handle, should_wake_up)
.unwrap();
steering_joint.data.set_motor_position(
JointAxis::AngY,
max_steering_angle * steering,
@@ -187,7 +190,10 @@ pub fn init_world(testbed: &mut Testbed) {
let ms = [1.0 / speed_diff, speed_diff];
for (motor_handle, &ms) in motor_joints.iter().copied().zip(ms.iter()) {
let motor_joint = physics.impulse_joints.get_mut(motor_handle).unwrap();
let motor_joint = physics
.impulse_joints
.get_mut(motor_handle, should_wake_up)
.unwrap();
motor_joint.data.set_motor_velocity(
JointAxis::AngX,
-30.0 * thrust * ms * boost,