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Fix mass-properties update after collider change

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This commit is contained in:
Sébastien Crozet
2022-04-16 11:54:03 +02:00
committed by Sébastien Crozet
parent 775c45e9ff
commit ee679427cd
8 changed files with 118 additions and 34 deletions
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21
src/dynamics/rigid_body.rs
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@@ -383,7 +383,7 @@ impl RigidBody {
///
/// Returns zero if this rigid body has an infinite mass.
pub fn mass(&self) -> Real {
utils::inv(self.rb_mprops.local_mprops.inv_mass)
self.rb_mprops.local_mprops.mass()
}
/// The predicted position of this rigid-body.
@@ -889,7 +889,7 @@ pub struct RigidBodyBuilder {
rb_type: RigidBodyType,
mprops_flags: LockedAxes,
/// The additional mass properties of the rigid-body being built. See [`RigidBodyBuilder::additional_mass_properties`] for more information.
pub mass_properties: MassProperties,
pub additional_mass_properties: MassProperties,
/// Whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.
pub can_sleep: bool,
/// Whether or not the rigid-body is to be created asleep.
@@ -916,7 +916,7 @@ impl RigidBodyBuilder {
angular_damping: 0.0,
rb_type,
mprops_flags: LockedAxes::empty(),
mass_properties: MassProperties::zero(),
additional_mass_properties: MassProperties::zero(),
can_sleep: true,
sleeping: false,
ccd_enabled: false,
@@ -1008,7 +1008,7 @@ impl RigidBodyBuilder {
/// mass properties of your rigid-body, don't attach colliders to it, or
/// only attach colliders with densities equal to zero.
pub fn additional_mass_properties(mut self, props: MassProperties) -> Self {
self.mass_properties = props;
self.additional_mass_properties = props;
self
}
@@ -1072,7 +1072,7 @@ impl RigidBodyBuilder {
/// equal to the sum of this additional mass and the mass computed from the colliders
/// (with non-zero densities) attached to this rigid-body.
pub fn additional_mass(mut self, mass: Real) -> Self {
self.mass_properties.set_mass(mass, false);
self.additional_mass_properties.set_mass(mass, false);
self
}
@@ -1093,7 +1093,7 @@ impl RigidBodyBuilder {
/// computed from the colliders (with non-zero densities) attached to this rigid-body.
#[cfg(feature = "dim2")]
pub fn additional_principal_angular_inertia(mut self, inertia: Real) -> Self {
self.mass_properties.inv_principal_inertia_sqrt =
self.additional_mass_properties.inv_principal_inertia_sqrt =
utils::inv(ComplexField::sqrt(inertia.max(0.0)));
self
}
@@ -1119,7 +1119,7 @@ impl RigidBodyBuilder {
/// computed from the colliders (with non-zero densities) attached to this rigid-body.
#[cfg(feature = "dim3")]
pub fn additional_principal_angular_inertia(mut self, inertia: AngVector<Real>) -> Self {
self.mass_properties.inv_principal_inertia_sqrt =
self.additional_mass_properties.inv_principal_inertia_sqrt =
inertia.map(|e| utils::inv(ComplexField::sqrt(e.max(0.0))));
self
}
@@ -1197,7 +1197,12 @@ impl RigidBodyBuilder {
rb.rb_vels.angvel = self.angvel;
rb.rb_type = self.rb_type;
rb.user_data = self.user_data;
rb.rb_mprops.local_mprops = self.mass_properties;
if self.additional_mass_properties != MassProperties::default() {
rb.rb_mprops.additional_local_mprops = Some(Box::new(self.additional_mass_properties));
rb.rb_mprops.local_mprops = self.additional_mass_properties;
}
rb.rb_mprops.flags = self.mprops_flags;
rb.rb_damping.linear_damping = self.linear_damping;
rb.rb_damping.angular_damping = self.angular_damping;