Struct StructuralWrench 

pub struct StructuralWrench {
    pub force_struct: DVec3,
    pub torque_struct: DVec3,
    pub t_struct_body: DMat3,
}

External wrench specified in the body’s structural frame, applied by integrate_body at each integrator derivative evaluation.

JEOD recomputes extern_forc_inrtl = T_inertial_structᵀ · extern_forc_struct inside the derivative function (dyn_body_collect.cc:214-224, reached via DynManager::compute_derivatives at every RK4 stage), so a rotating body sees the force rotated by its intermediate-stage attitude. The torque transform extern_torq_body = T_struct_body · extern_torq_struct (:245-252) uses only the fixed structure→body rotation, so it is constant over a step. Holding the force constant over the step — the prior runner behaviour — drifts by O(ω·dt) and is only acceptable at low angular rates.

t_struct_body is irrelevant when both vectors are zero; use Self::NONE for bodies with no structural load.

Fields

force_struct: DVec3

External force in the structural frame (N).

torque_struct: DVec3

External torque in the structural frame (N·m).

t_struct_body: DMat3

Structure→body rotation (identity when structure = body).

Implementations

impl StructuralWrench

pub const NONE: Self

No structural load. Identity t_struct_body (unused while both vectors are zero).

pub fn is_zero(&self) -> bool

True when neither a structural force nor torque is present.

Trait Implementations

impl Clone for StructuralWrench

fn clone(&self) -> StructuralWrench

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for StructuralWrench

impl Debug for StructuralWrench

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.