Merge pull request #8 from jice-nospam/master

add RigidBodyHandle.reset_base_velocity

Author: not-fl3

.gitignore

@@ -1,2 +1,3 @@
 target/
 Cargo.lock
+.vscode/

src/command.rs

@@ -28,6 +28,8 @@ pub enum Command {
     GetBasePositionAndOrientation(RigidBodyHandle),
     ResetBasePositionAndOrientation(RigidBodyHandle, Point3<f64>, Vector4<f64>),
 
+    ResetBaseVelocity(RigidBodyHandle, Option<Vector3<f64>>, Option<Vector3<f64>>),
+
     SetAngularFactor(RigidBodyHandle, Vector3<f64>),
 
     ApplyCentralImpulse(RigidBodyHandle, Vector3<f64>),
@@ -118,7 +120,7 @@ impl Command {
                     );
                 }
 
-                // with USE_MAXIMAL_COORDINATES physics client creates btRigidBody instead of btMultiBody                
+                // with USE_MAXIMAL_COORDINATES physics client creates btRigidBody instead of btMultiBody
                 unsafe {
                     ::sys::b3CreateMultiBodyUseMaximalCoordinates(command);
                 }
@@ -253,6 +255,23 @@ impl Command {
                 CommandHandle { handle: command }
             }
 
+            &Command::ResetBaseVelocity(ref body, lin_vel_opt, ang_vel_opt) => {
+                let command = unsafe {::sys::b3CreatePoseCommandInit(client.handle, body.unique_id)};
+                if let Some(lin_vel) = lin_vel_opt {
+                    let mut lin_vel_arr: [f64; 3] = lin_vel.into();
+                    unsafe {
+                        ::sys::b3CreatePoseCommandSetBaseLinearVelocity(command, lin_vel_arr.as_mut_ptr());
+                    }
+                }
+                if let Some(ang_vel) = ang_vel_opt {
+                    let mut ang_vel_arr: [f64; 3] = ang_vel.into();
+                    unsafe {
+                        ::sys::b3CreatePoseCommandSetBaseAngularVelocity(command, ang_vel_arr.as_mut_ptr());
+                    }
+                }
+                CommandHandle { handle: command }
+            }
+
             &Command::SetAngularFactor(ref body, factor) => {
                 let mut factor: [f64; 3] = factor.into();
                 let command = unsafe {

src/rigidbody.rs

@@ -48,6 +48,20 @@ impl RigidBodyHandle {
         )
     }
 
+    /// You can reset the linear and/or angular velocity of the base of a body using reset_base_velocity.
+    pub fn reset_base_velocity(&self, lin_vel: Option<Vector3<f64>>, ang_vel: Option<Vector3<f64>>) -> Result<(), Error> {
+        self.is_removed()?;
+
+        self.client_handle.submit_client_command_and_wait_status(
+            &Command::ResetBaseVelocity(
+                self.clone(),
+                lin_vel,
+                ang_vel,
+            ),
+        );
+        Ok(())
+    }
+
     pub fn set_angular_factor(&self, factor: Vector3<f64>) -> Result<(), Error> {
         self.is_removed()?;
 

tests/rigid_body.rs

@@ -29,3 +29,31 @@ fn get_actual_state() {
     assert_eq!(velocity, Vector3::from([0.0, 0.0, 0.0]));
 }
 
+#[test]
+fn reset_base_velocity() {
+    let bullet = Bullet::connect(ConnectMethod::Direct).unwrap();
+    let client = bullet.physics_client_handle();
+
+    client.reset_simulation();
+
+    let sphere_shape = client
+        .create_collision_shape(ShapeType::Sphere { radius: 0.1 })
+        .unwrap();
+
+    let body = client
+        .create_rigid_body(
+            sphere_shape.clone(),
+            0.1,
+            Vector3::from([1.0, 2.0, 3.0]),
+            Vector4::from([0.0, 0.0, 0.0, 1.0]),
+        )
+        .unwrap();
+
+    let velocity = body.get_linear_velocity().unwrap();
+    assert_eq!(velocity, Vector3::from([0.0, 0.0, 0.0]));
+
+    body.reset_base_velocity(Some(Vector3::from([1.0,2.0,3.0])),None).unwrap();
+    let new_velocity = body.get_linear_velocity().unwrap();
+    assert_eq!(new_velocity, Vector3::from([1.0, 2.0, 3.0]));
+
+}