1002 lines
34 KiB
Rust
1002 lines
34 KiB
Rust
use crate::data::{ComponentSetMut, ComponentSetOption};
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use crate::dynamics::MassProperties;
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use crate::geometry::{
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ColliderChanges, ColliderHandle, ColliderMassProps, ColliderParent, ColliderPosition,
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ColliderShape,
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};
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use crate::math::{
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AngVector, AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector,
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};
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use crate::parry::partitioning::IndexedData;
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use crate::utils::{WAngularInertia, WCross, WDot};
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use num::Zero;
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/// The unique handle of a rigid body added to a `RigidBodySet`.
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#[derive(Copy, Clone, Debug, PartialEq, Eq, Hash)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[repr(transparent)]
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pub struct RigidBodyHandle(pub crate::data::arena::Index);
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impl RigidBodyHandle {
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/// Converts this handle into its (index, generation) components.
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pub fn into_raw_parts(self) -> (u32, u32) {
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self.0.into_raw_parts()
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}
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/// Reconstructs an handle from its (index, generation) components.
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pub fn from_raw_parts(id: u32, generation: u32) -> Self {
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Self(crate::data::arena::Index::from_raw_parts(id, generation))
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}
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/// An always-invalid rigid-body handle.
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pub fn invalid() -> Self {
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Self(crate::data::arena::Index::from_raw_parts(
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crate::INVALID_U32,
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crate::INVALID_U32,
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))
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}
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}
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impl IndexedData for RigidBodyHandle {
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fn default() -> Self {
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Self(IndexedData::default())
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}
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fn index(&self) -> usize {
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self.0.index()
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}
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}
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/// The type of a body, governing the way it is affected by external forces.
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#[deprecated(note = "renamed as RigidBodyType")]
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pub type BodyStatus = RigidBodyType;
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#[derive(Copy, Clone, Debug, PartialEq, Eq)]
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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/// The status of a body, governing the way it is affected by external forces.
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pub enum RigidBodyType {
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/// A `RigidBodyType::Dynamic` body can be affected by all external forces.
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Dynamic = 0,
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/// A `RigidBodyType::Static` body cannot be affected by external forces.
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Static = 1,
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/// A `RigidBodyType::KinematicPositionBased` body cannot be affected by any external forces but can be controlled
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/// by the user at the position level while keeping realistic one-way interaction with dynamic bodies.
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///
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/// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
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/// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
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/// modified by the user and is independent from any contact or joint it is involved in.
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KinematicPositionBased = 2,
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/// A `RigidBodyType::KinematicVelocityBased` body cannot be affected by any external forces but can be controlled
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/// by the user at the velocity level while keeping realistic one-way interaction with dynamic bodies.
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///
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/// One-way interaction means that a kinematic body can push a dynamic body, but a kinematic body
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/// cannot be pushed by anything. In other words, the trajectory of a kinematic body can only be
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/// modified by the user and is independent from any contact or joint it is involved in.
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KinematicVelocityBased = 3,
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// Semikinematic, // A kinematic that performs automatic CCD with the static environment to avoid traversing it?
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// Disabled,
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}
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impl RigidBodyType {
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/// Is this rigid-body static (i.e. cannot move)?
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pub fn is_static(self) -> bool {
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self == RigidBodyType::Static
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}
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/// Is this rigid-body dynamic (i.e. can move and be affected by forces)?
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pub fn is_dynamic(self) -> bool {
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self == RigidBodyType::Dynamic
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}
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/// Is this rigid-body kinematic (i.e. can move but is unaffected by forces)?
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pub fn is_kinematic(self) -> bool {
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self == RigidBodyType::KinematicPositionBased
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|| self == RigidBodyType::KinematicVelocityBased
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}
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}
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bitflags::bitflags! {
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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/// Flags describing how the rigid-body has been modified by the user.
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pub struct RigidBodyChanges: u32 {
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/// Flag indicating that any component of this rigid-body has been modified.
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const MODIFIED = 1 << 0;
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/// Flag indicating that the `RigidBodyPosition` component of this rigid-body has been modified.
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const POSITION = 1 << 1;
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/// Flag indicating that the `RigidBodyActivation` component of this rigid-body has been modified.
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const SLEEP = 1 << 2;
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/// Flag indicating that the `RigidBodyColliders` component of this rigid-body has been modified.
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const COLLIDERS = 1 << 3;
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/// Flag indicating that the `RigidBodyType` component of this rigid-body has been modified.
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const TYPE = 1 << 4;
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/// Flag indicating that the `RigidBodyDominance` component of this rigid-body has been modified.
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const DOMINANCE = 1 << 5;
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}
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}
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impl Default for RigidBodyChanges {
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fn default() -> Self {
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RigidBodyChanges::empty()
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}
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}
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone, Debug, Copy, PartialEq)]
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/// The position of this rigid-body.
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pub struct RigidBodyPosition {
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/// The world-space position of the rigid-body.
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pub position: Isometry<Real>,
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/// The next position of the rigid-body.
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///
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/// At the beginning of the timestep, and when the
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/// timestep is complete we must have position == next_position
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/// except for kinematic bodies.
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///
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/// The next_position is updated after the velocity and position
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/// resolution. Then it is either validated (ie. we set position := set_position)
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/// or clamped by CCD.
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pub next_position: Isometry<Real>,
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}
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impl Default for RigidBodyPosition {
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fn default() -> Self {
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Self {
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position: Isometry::identity(),
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next_position: Isometry::identity(),
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}
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}
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}
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impl RigidBodyPosition {
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/// Computes the velocity need to travel from `self.position` to `self.next_position` in
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/// a time equal to `1.0 / inv_dt`.
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#[must_use]
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pub fn interpolate_velocity(&self, inv_dt: Real, local_com: &Point<Real>) -> RigidBodyVelocity {
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let com = self.position * local_com;
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let shift = Translation::from(com.coords);
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let dpos = shift.inverse() * self.next_position * self.position.inverse() * shift;
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let angvel;
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#[cfg(feature = "dim2")]
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{
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angvel = dpos.rotation.angle() * inv_dt;
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}
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#[cfg(feature = "dim3")]
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{
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angvel = dpos.rotation.scaled_axis() * inv_dt;
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}
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let linvel = dpos.translation.vector * inv_dt;
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RigidBodyVelocity { linvel, angvel }
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}
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/// Compute new positions after integrating the given forces and velocities.
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///
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/// This uses a symplectic Euler integration scheme.
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#[must_use]
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pub fn integrate_forces_and_velocities(
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&self,
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dt: Real,
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forces: &RigidBodyForces,
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vels: &RigidBodyVelocity,
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mprops: &RigidBodyMassProps,
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) -> Isometry<Real> {
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let new_vels = forces.integrate(dt, vels, mprops);
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new_vels.integrate(dt, &self.position, &mprops.local_mprops.local_com)
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}
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}
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impl<T> From<T> for RigidBodyPosition
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where
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Isometry<Real>: From<T>,
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{
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fn from(position: T) -> Self {
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let position = position.into();
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Self {
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position,
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next_position: position,
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}
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}
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}
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bitflags::bitflags! {
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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/// Flags affecting the behavior of the constraints solver for a given contact manifold.
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pub struct RigidBodyMassPropsFlags: u8 {
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/// Flag indicating that the rigid-body cannot translate along any direction.
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const TRANSLATION_LOCKED = 1 << 0;
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/// Flag indicating that the rigid-body cannot rotate along the `X` axis.
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const ROTATION_LOCKED_X = 1 << 1;
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/// Flag indicating that the rigid-body cannot rotate along the `Y` axis.
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const ROTATION_LOCKED_Y = 1 << 2;
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/// Flag indicating that the rigid-body cannot rotate along the `Z` axis.
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const ROTATION_LOCKED_Z = 1 << 3;
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/// Combination of flags indicating that the rigid-body cannot rotate along any axis.
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const ROTATION_LOCKED = Self::ROTATION_LOCKED_X.bits | Self::ROTATION_LOCKED_Y.bits | Self::ROTATION_LOCKED_Z.bits;
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}
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}
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// TODO: split this into "LocalMassProps" and `WorldMassProps"?
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone, Debug, Copy, PartialEq)]
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/// The mass properties of this rigid-bodies.
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pub struct RigidBodyMassProps {
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/// Flags for locking rotation and translation.
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pub flags: RigidBodyMassPropsFlags,
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/// The local mass properties of the rigid-body.
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pub local_mprops: MassProperties,
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/// The world-space center of mass of the rigid-body.
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pub world_com: Point<Real>,
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/// The inverse mass taking into account translation locking.
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pub effective_inv_mass: Real,
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/// The square-root of the world-space inverse angular inertia tensor of the rigid-body,
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/// taking into account rotation locking.
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pub effective_world_inv_inertia_sqrt: AngularInertia<Real>,
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}
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impl Default for RigidBodyMassProps {
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fn default() -> Self {
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Self {
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flags: RigidBodyMassPropsFlags::empty(),
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local_mprops: MassProperties::zero(),
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world_com: Point::origin(),
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effective_inv_mass: 0.0,
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effective_world_inv_inertia_sqrt: AngularInertia::zero(),
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}
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}
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}
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impl From<RigidBodyMassPropsFlags> for RigidBodyMassProps {
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fn from(flags: RigidBodyMassPropsFlags) -> Self {
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Self {
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flags,
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..Self::default()
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}
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}
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}
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impl From<MassProperties> for RigidBodyMassProps {
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fn from(local_mprops: MassProperties) -> Self {
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Self {
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local_mprops,
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..Default::default()
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}
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}
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}
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impl RigidBodyMassProps {
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/// The mass of the rigid-body.
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#[must_use]
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pub fn mass(&self) -> Real {
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crate::utils::inv(self.local_mprops.inv_mass)
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}
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/// The effective mass (that takes the potential translation locking into account) of
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/// this rigid-body.
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#[must_use]
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pub fn effective_mass(&self) -> Real {
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crate::utils::inv(self.effective_inv_mass)
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}
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/// The effective world-space angular inertia (that takes the potential rotation locking into account) of
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/// this rigid-body.
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#[must_use]
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pub fn effective_angular_inertia(&self) -> AngularInertia<Real> {
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self.effective_world_inv_inertia_sqrt.squared().inverse()
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}
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/// Update the world-space mass properties of `self`, taking into account the new position.
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pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>) {
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self.world_com = self.local_mprops.world_com(&position);
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self.effective_inv_mass = self.local_mprops.inv_mass;
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self.effective_world_inv_inertia_sqrt =
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self.local_mprops.world_inv_inertia_sqrt(&position.rotation);
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// Take into account translation/rotation locking.
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if self
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.flags
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.contains(RigidBodyMassPropsFlags::TRANSLATION_LOCKED)
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{
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self.effective_inv_mass = 0.0;
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}
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#[cfg(feature = "dim2")]
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{
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if self
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.flags
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.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z)
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{
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self.effective_world_inv_inertia_sqrt = 0.0;
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}
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}
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#[cfg(feature = "dim3")]
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{
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if self
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.flags
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.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_X)
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{
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self.effective_world_inv_inertia_sqrt.m11 = 0.0;
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self.effective_world_inv_inertia_sqrt.m12 = 0.0;
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self.effective_world_inv_inertia_sqrt.m13 = 0.0;
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}
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if self
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.flags
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.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Y)
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{
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self.effective_world_inv_inertia_sqrt.m22 = 0.0;
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self.effective_world_inv_inertia_sqrt.m12 = 0.0;
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self.effective_world_inv_inertia_sqrt.m23 = 0.0;
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}
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if self
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.flags
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.contains(RigidBodyMassPropsFlags::ROTATION_LOCKED_Z)
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{
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self.effective_world_inv_inertia_sqrt.m33 = 0.0;
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self.effective_world_inv_inertia_sqrt.m13 = 0.0;
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self.effective_world_inv_inertia_sqrt.m23 = 0.0;
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}
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}
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}
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}
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#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
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#[derive(Clone, Debug, Copy, PartialEq)]
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/// The velocities of this rigid-body.
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pub struct RigidBodyVelocity {
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/// The linear velocity of the rigid-body.
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pub linvel: Vector<Real>,
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/// The angular velocity of the rigid-body.
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pub angvel: AngVector<Real>,
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}
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impl Default for RigidBodyVelocity {
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fn default() -> Self {
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Self::zero()
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}
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}
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impl RigidBodyVelocity {
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/// Create a new rigid-body velocity component.
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#[must_use]
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pub fn new(linvel: Vector<Real>, angvel: AngVector<Real>) -> Self {
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Self { linvel, angvel }
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}
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/// Converts a slice to a rigid-body velocity.
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///
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/// The slice must contain at least 3 elements: the `slice[0..2] contains
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/// the linear velocity and the `slice[2]` contains the angular velocity.
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#[must_use]
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#[cfg(feature = "dim2")]
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pub fn from_slice(slice: &[Real]) -> Self {
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Self {
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linvel: Vector::new(slice[0], slice[1]),
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angvel: slice[2],
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}
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}
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/// Converts a slice to a rigid-body velocity.
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///
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/// The slice must contain at least 6 elements: the `slice[0..3] contains
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/// the linear velocity and the `slice[3..6]` contains the angular velocity.
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#[must_use]
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#[cfg(feature = "dim3")]
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pub fn from_slice(slice: &[Real]) -> Self {
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Self {
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linvel: Vector::new(slice[0], slice[1], slice[2]),
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angvel: AngVector::new(slice[3], slice[4], slice[5]),
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}
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}
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#[cfg(feature = "dim2")]
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pub(crate) fn from_vectors(linvel: Vector<Real>, angvel: na::Vector1<Real>) -> Self {
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Self {
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linvel,
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angvel: angvel.x,
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}
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}
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#[cfg(feature = "dim3")]
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pub(crate) fn from_vectors(linvel: Vector<Real>, angvel: Vector<Real>) -> Self {
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Self { linvel, angvel }
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}
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/// Velocities set to zero.
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#[must_use]
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pub fn zero() -> Self {
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Self {
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linvel: na::zero(),
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angvel: na::zero(),
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}
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}
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/// This velocity seen as a slice.
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///
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/// The linear part is stored first.
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#[inline]
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pub fn as_slice(&self) -> &[Real] {
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self.as_vector().as_slice()
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}
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/// This velocity seen as a mutable slice.
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///
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/// The linear part is stored first.
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#[inline]
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pub fn as_mut_slice(&mut self) -> &mut [Real] {
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self.as_vector_mut().as_mut_slice()
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}
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/// This velocity seen as a vector.
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///
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/// The linear part is stored first.
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#[inline]
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#[cfg(feature = "dim2")]
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pub fn as_vector(&self) -> &na::Vector3<Real> {
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unsafe { std::mem::transmute(self) }
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}
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/// This velocity seen as a mutable vector.
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///
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/// The linear part is stored first.
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#[inline]
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#[cfg(feature = "dim2")]
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pub fn as_vector_mut(&mut self) -> &mut na::Vector3<Real> {
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unsafe { std::mem::transmute(self) }
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}
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/// This velocity seen as a vector.
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///
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/// The linear part is stored first.
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#[inline]
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#[cfg(feature = "dim3")]
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pub fn as_vector(&self) -> &na::Vector6<Real> {
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unsafe { std::mem::transmute(self) }
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}
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/// This velocity seen as a mutable vector.
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///
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/// The linear part is stored first.
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#[inline]
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#[cfg(feature = "dim3")]
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pub fn as_vector_mut(&mut self) -> &mut na::Vector6<Real> {
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unsafe { std::mem::transmute(self) }
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}
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/// Return `self` transformed by `transform`.
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#[must_use]
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pub fn transformed(self, transform: &Isometry<Real>) -> Self {
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Self {
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linvel: transform * self.linvel,
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#[cfg(feature = "dim2")]
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angvel: self.angvel,
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#[cfg(feature = "dim3")]
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angvel: transform * self.angvel,
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}
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}
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/// Return `self` rotated by `rotation`.
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#[must_use]
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pub fn rotated(self, rotation: &Rotation<Real>) -> Self {
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Self {
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linvel: rotation * self.linvel,
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#[cfg(feature = "dim2")]
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angvel: self.angvel,
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#[cfg(feature = "dim3")]
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angvel: rotation * self.angvel,
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}
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}
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/// The approximate kinetic energy of this rigid-body.
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///
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/// This approximation does not take the rigid-body's mass and angular inertia
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/// into account.
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#[must_use]
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pub fn pseudo_kinetic_energy(&self) -> Real {
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self.linvel.norm_squared() + self.angvel.gdot(self.angvel)
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}
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/// Returns the update velocities after applying the given damping.
|
|
#[must_use]
|
|
pub fn apply_damping(&self, dt: Real, damping: &RigidBodyDamping) -> Self {
|
|
RigidBodyVelocity {
|
|
linvel: self.linvel * (1.0 / (1.0 + dt * damping.linear_damping)),
|
|
angvel: self.angvel * (1.0 / (1.0 + dt * damping.angular_damping)),
|
|
}
|
|
}
|
|
|
|
/// The velocity of the given world-space point on this rigid-body.
|
|
#[must_use]
|
|
pub fn velocity_at_point(&self, point: &Point<Real>, world_com: &Point<Real>) -> Vector<Real> {
|
|
let dpt = point - world_com;
|
|
self.linvel + self.angvel.gcross(dpt)
|
|
}
|
|
|
|
/// Integrate the velocities in `self` to compute obtain new positions when moving from the given
|
|
/// inital position `init_pos`.
|
|
#[must_use]
|
|
pub fn integrate(
|
|
&self,
|
|
dt: Real,
|
|
init_pos: &Isometry<Real>,
|
|
local_com: &Point<Real>,
|
|
) -> Isometry<Real> {
|
|
let com = init_pos * local_com;
|
|
let shift = Translation::from(com.coords);
|
|
let mut result =
|
|
shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse() * init_pos;
|
|
result.rotation.renormalize_fast();
|
|
result
|
|
}
|
|
|
|
/// Are these velocities exactly equal to zero?
|
|
#[must_use]
|
|
pub fn is_zero(&self) -> bool {
|
|
self.linvel.is_zero() && self.angvel.is_zero()
|
|
}
|
|
|
|
/// The kinetic energy of this rigid-body.
|
|
#[must_use]
|
|
pub fn kinetic_energy(&self, rb_mprops: &RigidBodyMassProps) -> Real {
|
|
let mut energy = (rb_mprops.mass() * self.linvel.norm_squared()) / 2.0;
|
|
|
|
#[cfg(feature = "dim2")]
|
|
if !rb_mprops.effective_world_inv_inertia_sqrt.is_zero() {
|
|
let inertia_sqrt = 1.0 / rb_mprops.effective_world_inv_inertia_sqrt;
|
|
energy += (inertia_sqrt * self.angvel).powi(2) / 2.0;
|
|
}
|
|
|
|
#[cfg(feature = "dim3")]
|
|
if !rb_mprops.effective_world_inv_inertia_sqrt.is_zero() {
|
|
let inertia_sqrt = rb_mprops
|
|
.effective_world_inv_inertia_sqrt
|
|
.inverse_unchecked();
|
|
energy += (inertia_sqrt * self.angvel).norm_squared() / 2.0;
|
|
}
|
|
|
|
energy
|
|
}
|
|
|
|
/// Applies an impulse at the center-of-mass of this rigid-body.
|
|
/// The impulse is applied right away, changing the linear velocity.
|
|
/// This does nothing on non-dynamic bodies.
|
|
pub fn apply_impulse(&mut self, rb_mprops: &RigidBodyMassProps, impulse: Vector<Real>) {
|
|
self.linvel += impulse * rb_mprops.effective_inv_mass;
|
|
}
|
|
|
|
/// Applies an angular impulse at the center-of-mass of this rigid-body.
|
|
/// The impulse is applied right away, changing the angular velocity.
|
|
/// This does nothing on non-dynamic bodies.
|
|
#[cfg(feature = "dim2")]
|
|
pub fn apply_torque_impulse(&mut self, rb_mprops: &RigidBodyMassProps, torque_impulse: Real) {
|
|
self.angvel += rb_mprops.effective_world_inv_inertia_sqrt
|
|
* (rb_mprops.effective_world_inv_inertia_sqrt * torque_impulse);
|
|
}
|
|
|
|
/// Applies an angular impulse at the center-of-mass of this rigid-body.
|
|
/// The impulse is applied right away, changing the angular velocity.
|
|
/// This does nothing on non-dynamic bodies.
|
|
#[cfg(feature = "dim3")]
|
|
pub fn apply_torque_impulse(
|
|
&mut self,
|
|
rb_mprops: &RigidBodyMassProps,
|
|
torque_impulse: Vector<Real>,
|
|
) {
|
|
self.angvel += rb_mprops.effective_world_inv_inertia_sqrt
|
|
* (rb_mprops.effective_world_inv_inertia_sqrt * torque_impulse);
|
|
}
|
|
|
|
/// Applies an impulse at the given world-space point of this rigid-body.
|
|
/// The impulse is applied right away, changing the linear and/or angular velocities.
|
|
/// This does nothing on non-dynamic bodies.
|
|
pub fn apply_impulse_at_point(
|
|
&mut self,
|
|
rb_mprops: &RigidBodyMassProps,
|
|
impulse: Vector<Real>,
|
|
point: Point<Real>,
|
|
) {
|
|
let torque_impulse = (point - rb_mprops.world_com).gcross(impulse);
|
|
self.apply_impulse(rb_mprops, impulse);
|
|
self.apply_torque_impulse(rb_mprops, torque_impulse);
|
|
}
|
|
}
|
|
|
|
impl std::ops::Mul<Real> for RigidBodyVelocity {
|
|
type Output = Self;
|
|
|
|
#[must_use]
|
|
fn mul(self, rhs: Real) -> Self {
|
|
RigidBodyVelocity {
|
|
linvel: self.linvel * rhs,
|
|
angvel: self.angvel * rhs,
|
|
}
|
|
}
|
|
}
|
|
|
|
impl std::ops::Add<RigidBodyVelocity> for RigidBodyVelocity {
|
|
type Output = Self;
|
|
|
|
#[must_use]
|
|
fn add(self, rhs: Self) -> Self {
|
|
RigidBodyVelocity {
|
|
linvel: self.linvel + rhs.linvel,
|
|
angvel: self.angvel + rhs.angvel,
|
|
}
|
|
}
|
|
}
|
|
|
|
impl std::ops::AddAssign<RigidBodyVelocity> for RigidBodyVelocity {
|
|
#[must_use]
|
|
fn add_assign(&mut self, rhs: Self) {
|
|
self.linvel += rhs.linvel;
|
|
self.angvel += rhs.angvel;
|
|
}
|
|
}
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone, Debug, Copy, PartialEq)]
|
|
/// Damping factors to progressively slow down a rigid-body.
|
|
pub struct RigidBodyDamping {
|
|
/// Damping factor for gradually slowing down the translational motion of the rigid-body.
|
|
pub linear_damping: Real,
|
|
/// Damping factor for gradually slowing down the angular motion of the rigid-body.
|
|
pub angular_damping: Real,
|
|
}
|
|
|
|
impl Default for RigidBodyDamping {
|
|
fn default() -> Self {
|
|
Self {
|
|
linear_damping: 0.0,
|
|
angular_damping: 0.0,
|
|
}
|
|
}
|
|
}
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone, Debug, Copy, PartialEq)]
|
|
/// The user-defined external forces applied to this rigid-body.
|
|
pub struct RigidBodyForces {
|
|
/// Accumulation of external forces (only for dynamic bodies).
|
|
pub force: Vector<Real>,
|
|
/// Accumulation of external torques (only for dynamic bodies).
|
|
pub torque: AngVector<Real>,
|
|
/// Gravity is multiplied by this scaling factor before it's
|
|
/// applied to this rigid-body.
|
|
pub gravity_scale: Real,
|
|
}
|
|
|
|
impl Default for RigidBodyForces {
|
|
fn default() -> Self {
|
|
Self {
|
|
force: na::zero(),
|
|
torque: na::zero(),
|
|
gravity_scale: 1.0,
|
|
}
|
|
}
|
|
}
|
|
|
|
impl RigidBodyForces {
|
|
/// Integrate these forces to compute new velocities.
|
|
#[must_use]
|
|
pub fn integrate(
|
|
&self,
|
|
dt: Real,
|
|
init_vels: &RigidBodyVelocity,
|
|
mprops: &RigidBodyMassProps,
|
|
) -> RigidBodyVelocity {
|
|
let linear_acc = self.force * mprops.effective_inv_mass;
|
|
let angular_acc = mprops.effective_world_inv_inertia_sqrt
|
|
* (mprops.effective_world_inv_inertia_sqrt * self.torque);
|
|
|
|
RigidBodyVelocity {
|
|
linvel: init_vels.linvel + linear_acc * dt,
|
|
angvel: init_vels.angvel + angular_acc * dt,
|
|
}
|
|
}
|
|
|
|
/// Adds to `self` the gravitational force that would result in a gravitational acceleration
|
|
/// equal to `gravity`.
|
|
pub fn add_gravity_acceleration(&mut self, gravity: &Vector<Real>, mass: Real) {
|
|
self.force += gravity * self.gravity_scale * mass;
|
|
}
|
|
|
|
/// Applies a force at the given world-space point of the rigid-body with the given mass properties.
|
|
pub fn apply_force_at_point(
|
|
&mut self,
|
|
rb_mprops: &RigidBodyMassProps,
|
|
force: Vector<Real>,
|
|
point: Point<Real>,
|
|
) {
|
|
self.force += force;
|
|
self.torque += (point - rb_mprops.world_com).gcross(force);
|
|
}
|
|
}
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone, Debug, Copy, PartialEq)]
|
|
/// Information used for Continuous-Collision-Detection.
|
|
pub struct RigidBodyCcd {
|
|
/// The distance used by the CCD solver to decide if a movement would
|
|
/// result in a tunnelling problem.
|
|
pub ccd_thickness: Real,
|
|
/// The max distance between this rigid-body's center of mass and its
|
|
/// furthest collider point.
|
|
pub ccd_max_dist: Real,
|
|
/// Is CCD active for this rigid-body?
|
|
///
|
|
/// If `self.ccd_enabled` is `true`, then this is automatically set to
|
|
/// `true` when the CCD solver detects that the rigid-body is moving fast
|
|
/// enough to potential cause a tunneling problem.
|
|
pub ccd_active: bool,
|
|
/// Is CCD enabled for this rigid-body?
|
|
pub ccd_enabled: bool,
|
|
}
|
|
|
|
impl Default for RigidBodyCcd {
|
|
fn default() -> Self {
|
|
Self {
|
|
ccd_thickness: 0.0,
|
|
ccd_max_dist: 0.0,
|
|
ccd_active: false,
|
|
ccd_enabled: false,
|
|
}
|
|
}
|
|
}
|
|
|
|
impl RigidBodyCcd {
|
|
/// The maximum velocity any point of any collider attached to this rigid-body
|
|
/// moving with the given velocity can have.
|
|
pub fn max_point_velocity(&self, vels: &RigidBodyVelocity) -> Real {
|
|
#[cfg(feature = "dim2")]
|
|
return vels.linvel.norm() + vels.angvel.abs() * self.ccd_max_dist;
|
|
#[cfg(feature = "dim3")]
|
|
return vels.linvel.norm() + vels.angvel.norm() * self.ccd_max_dist;
|
|
}
|
|
|
|
/// Is this rigid-body moving fast enough so that it may cause a tunneling problem?
|
|
pub fn is_moving_fast(
|
|
&self,
|
|
dt: Real,
|
|
vels: &RigidBodyVelocity,
|
|
forces: Option<&RigidBodyForces>,
|
|
) -> bool {
|
|
// NOTE: for the threshold we don't use the exact CCD thickness. Theoretically, we
|
|
// should use `self.rb_ccd.ccd_thickness - smallest_contact_dist` where `smallest_contact_dist`
|
|
// is the deepest contact (the contact with the largest penetration depth, i.e., the
|
|
// negative `dist` with the largest absolute value.
|
|
// However, getting this penetration depth assumes querying the contact graph from
|
|
// the narrow-phase, which can be pretty expensive. So we use the CCD thickness
|
|
// divided by 10 right now. We will see in practice if this value is OK or if we
|
|
// should use a smaller (to be less conservative) or larger divisor (to be more conservative).
|
|
let threshold = self.ccd_thickness / 10.0;
|
|
|
|
if let Some(forces) = forces {
|
|
let linear_part = (vels.linvel + forces.force * dt).norm();
|
|
#[cfg(feature = "dim2")]
|
|
let angular_part = (vels.angvel + forces.torque * dt).abs() * self.ccd_max_dist;
|
|
#[cfg(feature = "dim3")]
|
|
let angular_part = (vels.angvel + forces.torque * dt).norm() * self.ccd_max_dist;
|
|
let vel_with_forces = linear_part + angular_part;
|
|
vel_with_forces > threshold
|
|
} else {
|
|
self.max_point_velocity(vels) * dt > threshold
|
|
}
|
|
}
|
|
}
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone, Debug, Copy, PartialEq, Eq, Hash)]
|
|
/// Internal identifiers used by the physics engine.
|
|
pub struct RigidBodyIds {
|
|
pub(crate) active_island_id: usize,
|
|
pub(crate) active_set_id: usize,
|
|
pub(crate) active_set_offset: usize,
|
|
pub(crate) active_set_timestamp: u32,
|
|
}
|
|
|
|
impl Default for RigidBodyIds {
|
|
fn default() -> Self {
|
|
Self {
|
|
active_island_id: 0,
|
|
active_set_id: 0,
|
|
active_set_offset: 0,
|
|
active_set_timestamp: 0,
|
|
}
|
|
}
|
|
}
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone, Debug, PartialEq, Eq)]
|
|
/// The set of colliders attached to this rigid-bodies.
|
|
///
|
|
/// This should not be modified manually unless you really know what
|
|
/// you are doing (for example if you are trying to integrate Rapier
|
|
/// to a game engine using its component-based interface).
|
|
pub struct RigidBodyColliders(pub Vec<ColliderHandle>);
|
|
|
|
impl Default for RigidBodyColliders {
|
|
fn default() -> Self {
|
|
Self(vec![])
|
|
}
|
|
}
|
|
|
|
impl RigidBodyColliders {
|
|
/// Detach a collider from this rigid-body.
|
|
pub fn detach_collider(
|
|
&mut self,
|
|
rb_changes: &mut RigidBodyChanges,
|
|
co_handle: ColliderHandle,
|
|
) {
|
|
if let Some(i) = self.0.iter().position(|e| *e == co_handle) {
|
|
rb_changes.set(
|
|
RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
|
|
true,
|
|
);
|
|
self.0.swap_remove(i);
|
|
}
|
|
}
|
|
|
|
/// Attach a collider to this rigid-body.
|
|
pub fn attach_collider(
|
|
&mut self,
|
|
rb_changes: &mut RigidBodyChanges,
|
|
rb_ccd: &mut RigidBodyCcd,
|
|
rb_mprops: &mut RigidBodyMassProps,
|
|
rb_pos: &RigidBodyPosition,
|
|
co_handle: ColliderHandle,
|
|
co_pos: &mut ColliderPosition,
|
|
co_parent: &ColliderParent,
|
|
co_shape: &ColliderShape,
|
|
co_mprops: &ColliderMassProps,
|
|
) {
|
|
rb_changes.set(
|
|
RigidBodyChanges::MODIFIED | RigidBodyChanges::COLLIDERS,
|
|
true,
|
|
);
|
|
|
|
co_pos.0 = rb_pos.position * co_parent.pos_wrt_parent;
|
|
rb_ccd.ccd_thickness = rb_ccd.ccd_thickness.min(co_shape.ccd_thickness());
|
|
|
|
let shape_bsphere = co_shape.compute_bounding_sphere(&co_parent.pos_wrt_parent);
|
|
rb_ccd.ccd_max_dist = rb_ccd
|
|
.ccd_max_dist
|
|
.max(shape_bsphere.center.coords.norm() + shape_bsphere.radius);
|
|
|
|
let mass_properties = co_mprops
|
|
.mass_properties(&**co_shape)
|
|
.transform_by(&co_parent.pos_wrt_parent);
|
|
self.0.push(co_handle);
|
|
rb_mprops.local_mprops += mass_properties;
|
|
rb_mprops.update_world_mass_properties(&rb_pos.position);
|
|
}
|
|
|
|
/// Update the positions of all the colliders attached to this rigid-body.
|
|
pub fn update_positions<Colliders>(
|
|
&self,
|
|
colliders: &mut Colliders,
|
|
modified_colliders: &mut Vec<ColliderHandle>,
|
|
parent_pos: &Isometry<Real>,
|
|
) where
|
|
Colliders: ComponentSetMut<ColliderPosition>
|
|
+ ComponentSetMut<ColliderChanges>
|
|
+ ComponentSetOption<ColliderParent>,
|
|
{
|
|
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;
|
|
|
|
// 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));
|
|
}
|
|
}
|
|
}
|
|
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
#[derive(Clone, Debug, Copy, PartialEq, Eq, PartialOrd, Ord, Hash)]
|
|
/// The dominance groups of a rigid-body.
|
|
pub struct RigidBodyDominance(pub i8);
|
|
|
|
impl Default for RigidBodyDominance {
|
|
fn default() -> Self {
|
|
RigidBodyDominance(0)
|
|
}
|
|
}
|
|
|
|
impl RigidBodyDominance {
|
|
/// The actual dominance group of this rigid-body, after taking into account its type.
|
|
pub fn effective_group(&self, status: &RigidBodyType) -> i16 {
|
|
if status.is_dynamic() {
|
|
self.0 as i16
|
|
} else {
|
|
i8::MAX as i16 + 1
|
|
}
|
|
}
|
|
}
|
|
|
|
/// The rb_activation status of a body.
|
|
///
|
|
/// This controls whether a body is sleeping or not.
|
|
/// If the threshold is negative, the body never sleeps.
|
|
#[derive(Copy, Clone, Debug, PartialEq)]
|
|
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
|
|
pub struct RigidBodyActivation {
|
|
/// The threshold pseudo-kinetic energy bellow which the body can fall asleep.
|
|
pub threshold: Real,
|
|
/// The current pseudo-kinetic energy of the body.
|
|
pub energy: Real,
|
|
/// Is this body already sleeping?
|
|
pub sleeping: bool,
|
|
}
|
|
|
|
impl Default for RigidBodyActivation {
|
|
fn default() -> Self {
|
|
Self::active()
|
|
}
|
|
}
|
|
|
|
impl RigidBodyActivation {
|
|
/// The default amount of energy bellow which a body can be put to sleep by rapier.
|
|
pub fn default_threshold() -> Real {
|
|
0.01
|
|
}
|
|
|
|
/// Create a new rb_activation status initialised with the default rb_activation threshold and is active.
|
|
pub fn active() -> Self {
|
|
RigidBodyActivation {
|
|
threshold: Self::default_threshold(),
|
|
energy: Self::default_threshold() * 4.0,
|
|
sleeping: false,
|
|
}
|
|
}
|
|
|
|
/// Create a new rb_activation status initialised with the default rb_activation threshold and is inactive.
|
|
pub fn inactive() -> Self {
|
|
RigidBodyActivation {
|
|
threshold: Self::default_threshold(),
|
|
energy: 0.0,
|
|
sleeping: true,
|
|
}
|
|
}
|
|
|
|
/// Create a new activation status that prevents the rigid-body from sleeping.
|
|
pub fn cannot_sleep() -> Self {
|
|
RigidBodyActivation {
|
|
threshold: -Real::MAX,
|
|
..Self::active()
|
|
}
|
|
}
|
|
|
|
/// Returns `true` if the body is not asleep.
|
|
#[inline]
|
|
pub fn is_active(&self) -> bool {
|
|
self.energy != 0.0
|
|
}
|
|
|
|
/// Wakes up this rigid-body.
|
|
#[inline]
|
|
pub fn wake_up(&mut self, strong: bool) {
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self.sleeping = false;
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|
if strong || self.energy == 0.0 {
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|
self.energy = self.threshold.abs() * 2.0;
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|
}
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|
}
|
|
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/// Put this rigid-body to sleep.
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|
#[inline]
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|
pub fn sleep(&mut self) {
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|
self.energy = 0.0;
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|
self.sleeping = true;
|
|
}
|
|
}
|