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Finalize refactoring

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This commit is contained in:
Sébastien Crozet
2022-04-20 12:29:57 +02:00
committed by Sébastien Crozet
parent 2b1374c596
commit f108520b5a
32 changed files with 707 additions and 1030 deletions
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25
src/dynamics/rigid_body_components.rs
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@@ -231,6 +231,7 @@ pub struct RigidBodyMassProps {
pub flags: LockedAxes,
/// The local mass properties of the rigid-body.
pub local_mprops: MassProperties,
/// Mass-properties of this rigid-bodies, added to the contributions of its attached colliders.
pub additional_local_mprops: Option<Box<MassProperties>>,
/// The world-space center of mass of the rigid-body.
pub world_com: Point<Real>,
@@ -307,11 +308,11 @@ impl RigidBodyMassProps {
.unwrap_or_else(MassProperties::default);
for handle in &attached_colliders.0 {
if let Some(co) = colliders.get(handle) {
if let Some(co) = colliders.get(*handle) {
if let Some(co_parent) = co.parent {
let to_add = co
.mprops
.mass_properties(&**co.shape)
.mass_properties(&*co.shape)
.transform_by(&co_parent.pos_wrt_parent);
self.local_mprops += to_add;
}
@@ -895,21 +896,17 @@ impl RigidBodyColliders {
) {
for handle in &self.0 {
// NOTE: the ColliderParent component must exist if we enter this method.
let co_parent: &ColliderParent = colliders
.get(handle.0)
.expect("Could not find the ColliderParent component.");
let new_pos = parent_pos * co_parent.pos_wrt_parent;
let co = colliders.index_mut_internal(*handle);
let new_pos = parent_pos * co.parent.as_ref().unwrap().pos_wrt_parent;
if !co.changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
// Set the modification flag so we can benefit from the modification-tracking
// when updating the narrow-phase/broad-phase afterwards.
colliders.map_mut_internal(handle.0, |co_changes: &mut ColliderChanges| {
if !co_changes.contains(ColliderChanges::MODIFIED) {
modified_colliders.push(*handle);
}
*co_changes |= ColliderChanges::POSITION;
});
colliders.set_internal(handle.0, ColliderPosition(new_pos));
co.changes |= ColliderChanges::POSITION;
co.pos = ColliderPosition(new_pos);
}
}
}