use na::RealField;
use crate::solver::IntegrationParameters;
use crate::force_generator::ForceGenerator;
use crate::object::{BodyPartHandle, BodySet};
use crate::math::{Force, ForceType, Velocity, Vector};
pub struct ConstantAcceleration<N: RealField> {
parts: Vec<BodyPartHandle>,
acceleration: Velocity<N>,
}
impl<N: RealField> ConstantAcceleration<N> {
#[cfg(feature = "dim3")]
pub fn new(linear_acc: Vector<N>, angular_acc: Vector<N>) -> Self {
ConstantAcceleration {
parts: Vec::new(),
acceleration: Velocity::new(linear_acc, angular_acc),
}
}
#[cfg(feature = "dim2")]
pub fn new(linear_acc: Vector<N>, angular_acc: N) -> Self {
ConstantAcceleration {
parts: Vec::new(),
acceleration: Velocity::new(linear_acc, angular_acc),
}
}
pub fn add_body_part(&mut self, body: BodyPartHandle) {
self.parts.push(body)
}
}
impl<N: RealField> ForceGenerator<N> for ConstantAcceleration<N> {
fn apply(&mut self, _: &IntegrationParameters<N>, bodies: &mut BodySet<N>) -> bool {
let acceleration = self.acceleration;
self.parts.retain(|h| {
if let Some(body) = bodies.body_mut(h.0) {
body.apply_force(h.1,
&Force::new(acceleration.linear, acceleration.angular),
ForceType::AccelerationChange,
false);
true
} else {
false
}
});
!self.parts.is_empty()
}
}