dynamis-model 0.4.2

GPU-driven physics engine
Documentation 
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use crate::shape::Shape;

#[derive(Clone, Copy, Debug)]
pub struct ColliderDesc {
    pub shape: Shape,
    pub offset: [f32; 3],
    pub rotation: [f32; 4],
    pub friction: f32,
    pub restitution: f32,
    pub sensor: bool,
}

impl ColliderDesc {
    pub fn new(shape: Shape) -> Self {
        Self {
            shape,
            offset: [0.0; 3],
            rotation: [0.0, 0.0, 0.0, 1.0],
            friction: 0.5,
            restitution: 0.0,
            sensor: false,
        }
    }

    pub fn offset(mut self, offset: [f32; 3]) -> Self {
        self.offset = offset;
        self
    }

    pub fn rotation(mut self, rotation: [f32; 4]) -> Self {
        assert!(
            (rotation[0] * rotation[0]
                + rotation[1] * rotation[1]
                + rotation[2] * rotation[2]
                + rotation[3] * rotation[3]
                - 1.0)
                .abs()
                < 1e-4,
            "rotation must be a unit quaternion"
        );
        self.rotation = rotation;
        self
    }

    pub fn friction(mut self, friction: f32) -> Self {
        assert!(friction >= 0.0, "friction must be non-negative");
        self.friction = friction;
        self
    }

    pub fn restitution(mut self, restitution: f32) -> Self {
        self.restitution = restitution;
        self
    }

    pub fn sensor(mut self, sensor: bool) -> Self {
        self.sensor = sensor;
        self
    }
}