nphysics3d 0.24.0

3-dimensional physics engine in Rust. This crate is being superseded by the rapier3d crate.
Documentation 
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use na::RealField;

use crate::force_generator::ForceGenerator;
use crate::math::{Force, ForceType, Vector, Velocity};
use crate::object::{BodyHandle, BodyPartHandle, BodySet};
use crate::solver::IntegrationParameters;

/// Force generator adding a constant acceleration
/// at the center of mass of a set of body parts.
pub struct ConstantAcceleration<N: RealField + Copy, Handle: BodyHandle> {
    parts: Vec<BodyPartHandle<Handle>>,
    acceleration: Velocity<N>,
}

impl<N: RealField + Copy, Handle: BodyHandle> ConstantAcceleration<N, Handle> {
    /// Adds a new constant acceleration generator.
    ///
    /// The acceleration is expressed in world-space.
    #[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),
        }
    }

    /// Adds a new constant acceleration generator.
    ///
    /// The acceleration is expressed in world-space.
    #[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),
        }
    }

    /// Add a body part to be affected by this force generator.
    pub fn add_body_part(&mut self, body: BodyPartHandle<Handle>) {
        self.parts.push(body)
    }
}

impl<N: RealField + Copy, Handle: BodyHandle> ForceGenerator<N, Handle>
    for ConstantAcceleration<N, Handle>
{
    fn apply(
        &mut self,
        _: &IntegrationParameters<N>,
        bodies: &mut dyn BodySet<N, Handle = Handle>,
    ) {
        let acceleration = self.acceleration;
        self.parts.retain(|h| {
            if let Some(body) = bodies.get_mut(h.0) {
                body.apply_force(
                    h.1,
                    &Force::new(acceleration.linear, acceleration.angular),
                    ForceType::AccelerationChange,
                    false,
                );
                true
            } else {
                false
            }
        });
    }
}