dynamis_model/
collider.rs

1use crate::shape::Shape;
2
3#[derive(Clone, Copy, Debug)]
4pub struct ColliderDesc {
5    pub shape: Shape,
6    pub offset: [f32; 3],
7    pub rotation: [f32; 4],
8    pub friction: f32,
9    pub restitution: f32,
10    pub sensor: bool,
11}
12
13impl ColliderDesc {
14    pub fn new(shape: Shape) -> Self {
15        Self {
16            shape,
17            offset: [0.0; 3],
18            rotation: [0.0, 0.0, 0.0, 1.0],
19            friction: 0.5,
20            restitution: 0.0,
21            sensor: false,
22        }
23    }
24
25    pub fn offset(mut self, offset: [f32; 3]) -> Self {
26        self.offset = offset;
27        self
28    }
29
30    pub fn rotation(mut self, rotation: [f32; 4]) -> Self {
31        assert!(
32            (rotation[0] * rotation[0]
33                + rotation[1] * rotation[1]
34                + rotation[2] * rotation[2]
35                + rotation[3] * rotation[3]
36                - 1.0)
37                .abs()
38                < 1e-4,
39            "rotation must be a unit quaternion"
40        );
41        self.rotation = rotation;
42        self
43    }
44
45    pub fn friction(mut self, friction: f32) -> Self {
46        assert!(friction >= 0.0, "friction must be non-negative");
47        self.friction = friction;
48        self
49    }
50
51    pub fn restitution(mut self, restitution: f32) -> Self {
52        self.restitution = restitution;
53        self
54    }
55
56    pub fn sensor(mut self, sensor: bool) -> Self {
57        self.sensor = sensor;
58        self
59    }
60}
dynamis_model/collider.rs

dynamis_model/
collider.rs
