diff --git a/CHANGELOG.md b/CHANGELOG.md index 036892ce..11435b34 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,11 @@ - Update from rapier 0.19 to 0.21 ([#281](https://github.com/dimforge/rapier.js/pull/281)), see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#v0210-23-june-2024) for more context. +#### Added + +- Added `userForce` function to retrieve the constant force(s) the user added to a rigid-body +- Added `userTorque` function to retrieve the constant torque(s) the user added to a rigid-body + ### 0.13.1 (2024-05-08) #### Fixed diff --git a/Cargo.lock b/Cargo.lock index 31e62ccb..a280ac87 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -2,6 +2,24 @@ # It is not intended for manual editing. version = 3 +[[package]] +name = "ahash" +version = "0.8.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e89da841a80418a9b391ebaea17f5c112ffaaa96f621d2c285b5174da76b9011" +dependencies = [ + "cfg-if", + "once_cell", + "version_check", + "zerocopy", +] + +[[package]] +name = "allocator-api2" +version = "0.2.18" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5c6cb57a04249c6480766f7f7cef5467412af1490f8d1e243141daddada3264f" + [[package]] name = "approx" version = "0.5.1" @@ -22,9 +40,9 @@ dependencies = [ [[package]] name = "autocfg" -version = "1.1.0" +version = "1.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa" +checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0" [[package]] name = "bincode" @@ -61,9 +79,9 @@ dependencies = [ [[package]] name = "bumpalo" -version = "3.14.0" +version = "3.16.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7f30e7476521f6f8af1a1c4c0b8cc94f0bee37d91763d0ca2665f299b6cd8aec" +checksum = "79296716171880943b8470b5f8d03aa55eb2e645a4874bdbb28adb49162e012c" [[package]] name = "by_address" @@ -73,9 +91,9 @@ checksum = "64fa3c856b712db6612c019f14756e64e4bcea13337a6b33b696333a9eaa2d06" [[package]] name = "bytemuck" -version = "1.14.0" +version = "1.16.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "374d28ec25809ee0e23827c2ab573d729e293f281dfe393500e7ad618baa61c6" +checksum = "b236fc92302c97ed75b38da1f4917b5cdda4984745740f153a5d3059e48d725e" [[package]] name = "cfg-if" @@ -85,11 +103,10 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd" [[package]] name = "crossbeam" -version = "0.8.2" +version = "0.8.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2801af0d36612ae591caa9568261fddce32ce6e08a7275ea334a06a4ad021a2c" +checksum = "1137cd7e7fc0fb5d3c5a8678be38ec56e819125d8d7907411fe24ccb943faca8" dependencies = [ - "cfg-if", "crossbeam-channel", "crossbeam-deque", "crossbeam-epoch", @@ -99,56 +116,46 @@ dependencies = [ [[package]] name = "crossbeam-channel" -version = "0.5.8" +version = "0.5.13" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a33c2bf77f2df06183c3aa30d1e96c0695a313d4f9c453cc3762a6db39f99200" +checksum = "33480d6946193aa8033910124896ca395333cae7e2d1113d1fef6c3272217df2" dependencies = [ - "cfg-if", "crossbeam-utils", ] [[package]] name = "crossbeam-deque" -version = "0.8.3" +version = "0.8.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ce6fd6f855243022dcecf8702fef0c297d4338e226845fe067f6341ad9fa0cef" +checksum = "613f8cc01fe9cf1a3eb3d7f488fd2fa8388403e97039e2f73692932e291a770d" dependencies = [ - "cfg-if", "crossbeam-epoch", "crossbeam-utils", ] [[package]] name = "crossbeam-epoch" -version = "0.9.15" +version = "0.9.18" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ae211234986c545741a7dc064309f67ee1e5ad243d0e48335adc0484d960bcc7" +checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e" dependencies = [ - "autocfg", - "cfg-if", "crossbeam-utils", - "memoffset", - "scopeguard", ] [[package]] name = "crossbeam-queue" -version = "0.3.8" +version = "0.3.11" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d1cfb3ea8a53f37c40dea2c7bedcbd88bdfae54f5e2175d6ecaff1c988353add" +checksum = "df0346b5d5e76ac2fe4e327c5fd1118d6be7c51dfb18f9b7922923f287471e35" dependencies = [ - "cfg-if", "crossbeam-utils", ] [[package]] name = "crossbeam-utils" -version = "0.8.16" +version = "0.8.20" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5a22b2d63d4d1dc0b7f1b6b2747dd0088008a9be28b6ddf0b1e7d335e3037294" -dependencies = [ - "cfg-if", -] +checksum = "22ec99545bb0ed0ea7bb9b8e1e9122ea386ff8a48c0922e43f36d45ab09e0e80" [[package]] name = "dimforge_rapier2d" @@ -185,15 +192,15 @@ dependencies = [ [[package]] name = "downcast-rs" -version = "1.2.0" +version = "1.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9ea835d29036a4087793836fa931b08837ad5e957da9e23886b29586fb9b6650" +checksum = "75b325c5dbd37f80359721ad39aca5a29fb04c89279657cffdda8736d0c0b9d2" [[package]] name = "either" -version = "1.9.0" +version = "1.13.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07" +checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0" [[package]] name = "equivalent" @@ -212,6 +219,10 @@ name = "hashbrown" version = "0.14.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1" +dependencies = [ + "ahash", + "allocator-api2", +] [[package]] name = "indexmap" @@ -226,9 +237,9 @@ dependencies = [ [[package]] name = "instant" -version = "0.1.12" +version = "0.1.13" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7a5bbe824c507c5da5956355e86a746d82e0e1464f65d862cc5e71da70e94b2c" +checksum = "e0242819d153cba4b4b05a5a8f2a7e9bbf97b6055b2a002b395c96b5ff3c0222" dependencies = [ "cfg-if", "js-sys", @@ -238,24 +249,24 @@ dependencies = [ [[package]] name = "js-sys" -version = "0.3.64" +version = "0.3.69" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c5f195fe497f702db0f318b07fdd68edb16955aed830df8363d837542f8f935a" +checksum = "29c15563dc2726973df627357ce0c9ddddbea194836909d655df6a75d2cf296d" dependencies = [ "wasm-bindgen", ] [[package]] name = "libm" -version = "0.2.7" +version = "0.2.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4" +checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058" [[package]] name = "log" -version = "0.4.20" +version = "0.4.22" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f" +checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24" [[package]] name = "matrixmultiply" @@ -267,20 +278,11 @@ dependencies = [ "rawpointer", ] -[[package]] -name = "memoffset" -version = "0.9.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5a634b1c61a95585bd15607c6ab0c4e5b226e695ff2800ba0cdccddf208c406c" -dependencies = [ - "autocfg", -] - [[package]] name = "nalgebra" -version = "0.32.3" +version = "0.32.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "307ed9b18cc2423f29e83f84fd23a8e73628727990181f18641a8b5dc2ab1caa" +checksum = "7b5c17de023a86f59ed79891b2e5d5a94c705dbe904a5b5c9c952ea6221b03e4" dependencies = [ "approx", "matrixmultiply", @@ -319,11 +321,21 @@ dependencies = [ "syn", ] +[[package]] +name = "num-bigint" +version = "0.4.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9" +dependencies = [ + "num-integer", + "num-traits", +] + [[package]] name = "num-complex" -version = "0.4.4" +version = "0.4.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1ba157ca0885411de85d6ca030ba7e2a83a28636056c7c699b07c8b6f7383214" +checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495" dependencies = [ "num-traits", "serde", @@ -331,9 +343,9 @@ dependencies = [ [[package]] name = "num-derive" -version = "0.4.1" +version = "0.4.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cfb77679af88f8b125209d354a202862602672222e7f2313fdd6dc349bad4712" +checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202" dependencies = [ "proc-macro2", "quote", @@ -342,30 +354,29 @@ dependencies = [ [[package]] name = "num-integer" -version = "0.1.45" +version = "0.1.46" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9" +checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f" dependencies = [ - "autocfg", "num-traits", ] [[package]] name = "num-rational" -version = "0.4.1" +version = "0.4.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0638a1c9d0a3c0914158145bc76cff373a75a627e6ecbfb71cbe6f453a5a19b0" +checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824" dependencies = [ - "autocfg", + "num-bigint", "num-integer", "num-traits", ] [[package]] name = "num-traits" -version = "0.2.16" +version = "0.2.19" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2" +checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841" dependencies = [ "autocfg", "libm", @@ -373,21 +384,15 @@ dependencies = [ [[package]] name = "once_cell" -version = "1.18.0" +version = "1.19.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "dd8b5dd2ae5ed71462c540258bedcb51965123ad7e7ccf4b9a8cafaa4a63576d" - -[[package]] -name = "optional" -version = "0.5.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "978aa494585d3ca4ad74929863093e87cac9790d81fe7aba2b3dc2890643a0fc" +checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92" [[package]] name = "ordered-float" -version = "4.2.0" +version = "4.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a76df7075c7d4d01fdcb46c912dd17fba5b60c78ea480b475f2b6ab6f666584e" +checksum = "19ff2cf528c6c03d9ed653d6c4ce1dc0582dc4af309790ad92f07c1cd551b0be" dependencies = [ "num-traits", ] @@ -428,7 +433,7 @@ dependencies = [ "downcast-rs", "either", "log", - "nalgebra 0.32.3", + "nalgebra 0.32.6", "num-derive", "num-traits", "rustc-hash 1.1.0", @@ -492,9 +497,9 @@ dependencies = [ [[package]] name = "paste" -version = "1.0.14" +version = "1.0.15" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c" +checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a" [[package]] name = "phf" @@ -540,18 +545,18 @@ dependencies = [ [[package]] name = "proc-macro2" -version = "1.0.67" +version = "1.0.86" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3d433d9f1a3e8c1263d9456598b16fec66f4acc9a74dacffd35c7bb09b3a1328" +checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77" dependencies = [ "unicode-ident", ] [[package]] name = "quote" -version = "1.0.33" +version = "1.0.36" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae" +checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7" dependencies = [ "proc-macro2", ] @@ -629,18 +634,18 @@ checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3" [[package]] name = "ref-cast" -version = "1.0.20" +version = "1.0.23" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "acde58d073e9c79da00f2b5b84eed919c8326832648a5b109b3fce1bb1175280" +checksum = "ccf0a6f84d5f1d581da8b41b47ec8600871962f2a528115b542b362d4b744931" dependencies = [ "ref-cast-impl", ] [[package]] name = "ref-cast-impl" -version = "1.0.20" +version = "1.0.23" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7f7473c2cfcf90008193dd0e3e16599455cb601a9fce322b5bb55de799664925" +checksum = "bcc303e793d3734489387d205e9b186fac9c6cfacedd98cbb2e8a5943595f3e6" dependencies = [ "proc-macro2", "quote", @@ -649,9 +654,9 @@ dependencies = [ [[package]] name = "robust" -version = "0.2.3" +version = "1.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e5864e7ef1a6b7bcf1d6ca3f655e65e724ed3b52546a0d0a663c991522f552ea" +checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30" [[package]] name = "rustc-hash" @@ -667,33 +672,27 @@ checksum = "583034fd73374156e66797ed8e5b0d5690409c9226b22d87cb7f19821c05d152" [[package]] name = "safe_arch" -version = "0.7.1" +version = "0.7.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f398075ce1e6a179b46f51bd88d0598b92b00d3551f1a2d4ac49e771b56ac354" +checksum = "c3460605018fdc9612bce72735cba0d27efbcd9904780d44c7e3a9948f96148a" dependencies = [ "bytemuck", ] -[[package]] -name = "scopeguard" -version = "1.2.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49" - [[package]] name = "serde" -version = "1.0.188" +version = "1.0.204" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cf9e0fcba69a370eed61bcf2b728575f726b50b55cba78064753d708ddc7549e" +checksum = "bc76f558e0cbb2a839d37354c575f1dc3fdc6546b5be373ba43d95f231bf7c12" dependencies = [ "serde_derive", ] [[package]] name = "serde_derive" -version = "1.0.188" +version = "1.0.204" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4eca7ac642d82aa35b60049a6eccb4be6be75e599bd2e9adb5f875a737654af2" +checksum = "e0cd7e117be63d3c3678776753929474f3b04a43a080c744d6b0ae2a8c28e222" dependencies = [ "proc-macro2", "quote", @@ -744,27 +743,27 @@ dependencies = [ [[package]] name = "smallvec" -version = "1.11.1" +version = "1.13.2" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "942b4a808e05215192e39f4ab80813e599068285906cc91aa64f923db842bd5a" +checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67" [[package]] name = "spade" -version = "2.2.0" +version = "2.9.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "88e65803986868d2372c582007c39ba89936a36ea5f236bf7a7728dc258f04f9" +checksum = "9f4ec45f91925e2c9ab3b6a857ee9ed36916990df76a1c475d783a328e247cc8" dependencies = [ + "hashbrown", "num-traits", - "optional", "robust", "smallvec", ] [[package]] name = "syn" -version = "2.0.37" +version = "2.0.71" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7303ef2c05cd654186cb250d29049a24840ca25d2747c25c0381c8d9e2f582e8" +checksum = "b146dcf730474b4bcd16c311627b31ede9ab149045db4d6088b3becaea046462" dependencies = [ "proc-macro2", "quote", @@ -773,18 +772,18 @@ dependencies = [ [[package]] name = "thiserror" -version = "1.0.55" +version = "1.0.62" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6e3de26b0965292219b4287ff031fcba86837900fe9cd2b34ea8ad893c0953d2" +checksum = "f2675633b1499176c2dff06b0856a27976a8f9d436737b4cf4f312d4d91d8bbb" dependencies = [ "thiserror-impl", ] [[package]] name = "thiserror-impl" -version = "1.0.55" +version = 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"wasm-bindgen-macro", @@ -815,9 +820,9 @@ dependencies = [ [[package]] name = "wasm-bindgen-backend" -version = "0.2.90" +version = "0.2.92" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fcdc935b63408d58a32f8cc9738a0bffd8f05cc7c002086c6ef20b7312ad9dcd" +checksum = "614d787b966d3989fa7bb98a654e369c762374fd3213d212cfc0251257e747da" dependencies = [ "bumpalo", "log", @@ -830,9 +835,9 @@ dependencies = [ [[package]] name = "wasm-bindgen-macro" -version = "0.2.90" +version = "0.2.92" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3e4c238561b2d428924c49815533a8b9121c664599558a5d9ec51f8a1740a999" +checksum = "a1f8823de937b71b9460c0c34e25f3da88250760bec0ebac694b49997550d726" dependencies = [ "quote", "wasm-bindgen-macro-support", @@ -840,9 +845,9 @@ dependencies = [ [[package]] name = "wasm-bindgen-macro-support" -version = "0.2.90" +version = "0.2.92" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bae1abb6806dc1ad9e560ed242107c0f6c84335f1749dd4e8ddb012ebd5e25a7" +checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7" dependencies = [ "proc-macro2", "quote", @@ -853,15 +858,15 @@ dependencies = [ [[package]] name = "wasm-bindgen-shared" -version = "0.2.90" +version = "0.2.92" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4d91413b1c31d7539ba5ef2451af3f0b833a005eb27a631cec32bc0635a8602b" +checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96" [[package]] name = "web-sys" -version = "0.3.64" +version = "0.3.69" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9b85cbef8c220a6abc02aefd892dfc0fc23afb1c6a426316ec33253a3877249b" +checksum = "77afa9a11836342370f4817622a2f0f418b134426d91a82dfb48f532d2ec13ef" dependencies = [ "js-sys", "wasm-bindgen", @@ -869,10 +874,30 @@ dependencies = [ [[package]] name = "wide" -version = "0.7.12" +version = "0.7.25" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ebecebefc38ff1860b4bc47550bbfa63af5746061cf0d29fcd7fa63171602598" +checksum = "2caba658a80831539b30698ae9862a72db6697dfdd7151e46920f5f2755c3ce2" dependencies = [ "bytemuck", "safe_arch", ] + +[[package]] +name = "zerocopy" +version = "0.7.35" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0" +dependencies = [ + "zerocopy-derive", +] + +[[package]] +name = "zerocopy-derive" +version = "0.7.35" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] diff --git a/src.ts/dynamics/rigid_body.ts b/src.ts/dynamics/rigid_body.ts index 784a7749..7e44368d 100644 --- a/src.ts/dynamics/rigid_body.ts +++ b/src.ts/dynamics/rigid_body.ts @@ -1068,6 +1068,34 @@ export class RigidBody { rawImpulse.free(); rawPoint.free(); } + + /** + * Retrieves the constant force(s) the user added to this rigid-body + * Returns zero if the rigid-body is not dynamic. + */ + public userForce(): Vector { + return VectorOps.fromRaw(this.rawSet.rbUserForce(this.handle)); + } + + // #if DIM2 + /** + * Retrieves the constant torque(s) the user added to this rigid-body + * Returns zero if the rigid-body is not dynamic. + */ + public userTorque(): number { + return this.rawSet.rbUserTorque(this.handle); + } + // #endif + + // #if DIM3 + /** + * Retrieves the constant torque(s) the user added to this rigid-body + * Returns zero if the rigid-body is not dynamic. + */ + public userTorque(): Vector { + return VectorOps.fromRaw(this.rawSet.rbUserTorque(this.handle)); + } + // #endif } export class RigidBodyDesc { diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs index 1516da68..126ac1ef 100644 --- a/src/dynamics/rigid_body.rs +++ b/src/dynamics/rigid_body.rs @@ -722,4 +722,24 @@ impl RawRigidBodySet { rb.user_data = data as u128; }) } + + /// Retrieves the constant force(s) the user added to this rigid-body. + /// Returns zero if the rigid-body is not dynamic. + pub fn rbUserForce(&self, handle: FlatHandle) -> RawVector { + self.map(handle, |rb| rb.user_force().into()) + } + + /// Retrieves the constant torque(s) the user added to this rigid-body. + /// Returns zero if the rigid-body is not dynamic. + #[cfg(feature = "dim2")] + pub fn rbUserTorque(&self, handle: FlatHandle) -> f32 { + self.map(handle, |rb| rb.user_torque()) + } + + /// Retrieves the constant torque(s) the user added to this rigid-body. + /// Returns zero if the rigid-body is not dynamic. + #[cfg(feature = "dim3")] + pub fn rbUserTorque(&self, handle: FlatHandle) -> RawVector { + self.map(handle, |rb| rb.user_torque().into()) + } }