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use na::{self, DVectorSlice, DVectorSliceMut, Real};
use math::{Force, Inertia, Isometry, Point, Velocity};
use object::{ActivationStatus, BodyHandle, BodyStatus};
use solver::IntegrationParameters;
pub struct Ground<N: Real> {
companion_id: usize,
activation: ActivationStatus<N>,
data: [N; 0],
}
impl<N: Real> Ground<N> {
pub(crate) fn new() -> Self {
Ground {
companion_id: usize::max_value(),
activation: ActivationStatus::new_inactive(),
data: [],
}
}
#[inline]
pub fn handle(&self) -> BodyHandle {
BodyHandle::ground()
}
#[inline]
pub fn activation_status(&self) -> &ActivationStatus<N> {
&self.activation
}
#[inline]
pub fn activate(&mut self) {
if let Some(threshold) = self.activation.deactivation_threshold() {
self.activate_with_energy(threshold * na::convert(2.0));
}
}
#[inline]
pub fn activate_with_energy(&mut self, energy: N) {
self.activation.set_energy(energy)
}
#[inline]
pub fn deactivate(&mut self) {
self.activation.set_energy(N::zero());
}
#[inline]
pub fn is_active(&self) -> bool {
self.activation.is_active()
}
#[inline]
pub fn is_dynamic(&self) -> bool {
false
}
#[inline]
pub fn is_kinematic(&self) -> bool {
false
}
#[inline]
pub fn is_static(&self) -> bool {
true
}
#[inline]
pub fn status(&self) -> BodyStatus {
BodyStatus::Static
}
#[inline]
pub fn companion_id(&self) -> usize {
self.companion_id
}
#[inline]
pub fn set_companion_id(&mut self, id: usize) {
self.companion_id = id
}
#[inline]
pub fn ndofs(&self) -> usize {
0
}
#[inline]
pub fn generalized_velocity(&self) -> DVectorSlice<N> {
DVectorSlice::from_slice(&self.data[..], 0)
}
#[inline]
pub fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<N> {
DVectorSliceMut::from_slice(&mut self.data[..], 0)
}
#[inline]
pub fn generalized_acceleration(&self) -> DVectorSlice<N> {
DVectorSlice::from_slice(&self.data[..], 0)
}
#[inline]
pub fn integrate(&mut self, _: &IntegrationParameters<N>) {}
#[inline]
pub fn center_of_mass(&self) -> Point<N> {
Point::origin()
}
#[inline]
pub fn position(&self) -> Isometry<N> {
Isometry::identity()
}
#[inline]
pub fn velocity(&self) -> Velocity<N> {
Velocity::zero()
}
#[inline]
pub fn inertia(&self) -> Inertia<N> {
Inertia::zero()
}
#[inline]
pub fn local_inertia(&self) -> Inertia<N> {
Inertia::zero()
}
#[inline]
pub fn body_jacobian_mul_force(&self, _: &Force<N>, _: &mut [N]) {}
#[inline]
pub fn inv_mass_mul_generalized_forces(&self, _: &mut [N]) {}
#[inline]
pub fn inv_mass_mul_force(&self, _: &Force<N>, _: &mut [N]) {}
#[inline]
pub fn apply_force(&mut self, _: &Force<N>) {}
}