Struct bevy_rapier3d::prelude::RigidBodyPosition
source · [−]pub struct RigidBodyPosition {
pub position: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pub next_position: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
}
Expand description
The position of this rigid-body.
Fields
position: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The world-space position of the rigid-body.
next_position: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The next position of the rigid-body.
At the beginning of the timestep, and when the timestep is complete we must have position == next_position except for kinematic bodies.
The next_position is updated after the velocity and position resolution. Then it is either validated (ie. we set position := set_position) or clamped by CCD.
Implementations
sourceimpl RigidBodyPosition
impl RigidBodyPosition
sourcepub fn interpolate_velocity(
&self,
inv_dt: f32,
local_com: &OPoint<f32, Const<3_usize>>
) -> RigidBodyVelocity
pub fn interpolate_velocity(
&self,
inv_dt: f32,
local_com: &OPoint<f32, Const<3_usize>>
) -> RigidBodyVelocity
Computes the velocity need to travel from self.position
to self.next_position
in
a time equal to 1.0 / inv_dt
.
sourcepub fn integrate_forces_and_velocities(
&self,
dt: f32,
forces: &RigidBodyForces,
vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
pub fn integrate_forces_and_velocities(
&self,
dt: f32,
forces: &RigidBodyForces,
vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
Compute new positions after integrating the given forces and velocities.
This uses a symplectic Euler integration scheme.
Trait Implementations
sourceimpl Clone for RigidBodyPosition
impl Clone for RigidBodyPosition
sourcepub fn clone(&self) -> RigidBodyPosition
pub fn clone(&self) -> RigidBodyPosition
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl<'world, 'state, 'a> ComponentSet<RigidBodyPosition> for RigidBodyComponentsSet<'world, 'state, 'a>
impl<'world, 'state, 'a> ComponentSet<RigidBodyPosition> for RigidBodyComponentsSet<'world, 'state, 'a>
sourceimpl<'world, 'state, 'a> ComponentSetMut<RigidBodyPosition> for RigidBodyComponentsSet<'world, 'state, 'a>
impl<'world, 'state, 'a> ComponentSetMut<RigidBodyPosition> for RigidBodyComponentsSet<'world, 'state, 'a>
sourcefn set_internal(&mut self, handle: Index, val: RigidBodyPosition)
fn set_internal(&mut self, handle: Index, val: RigidBodyPosition)
Set the value of this element.
sourcefn map_mut_internal<Result>(
&mut self,
handle: Index,
f: impl FnOnce(&mut RigidBodyPosition) -> Result
) -> Option<Result>
fn map_mut_internal<Result>(
&mut self,
handle: Index,
f: impl FnOnce(&mut RigidBodyPosition) -> Result
) -> Option<Result>
Applies the given closure to the element associated to the given handle
. Read more
sourceimpl<'world, 'state, 'a> ComponentSetOption<RigidBodyPosition> for RigidBodyComponentsSet<'world, 'state, 'a>
impl<'world, 'state, 'a> ComponentSetOption<RigidBodyPosition> for RigidBodyComponentsSet<'world, 'state, 'a>
sourcefn get(&self, handle: Index) -> Option<&RigidBodyPosition>
fn get(&self, handle: Index) -> Option<&RigidBodyPosition>
Get the element associated to the given handle
, if there is one.
sourceimpl Debug for RigidBodyPosition
impl Debug for RigidBodyPosition
sourceimpl Default for RigidBodyPosition
impl Default for RigidBodyPosition
sourcepub fn default() -> RigidBodyPosition
pub fn default() -> RigidBodyPosition
Returns the “default value” for a type. Read more
sourceimpl<T> From<T> for RigidBodyPosition where
Isometry<f32, Unit<Quaternion<f32>>, 3_usize>: From<T>,
impl<T> From<T> for RigidBodyPosition where
Isometry<f32, Unit<Quaternion<f32>>, 3_usize>: From<T>,
sourcepub fn from(position: T) -> RigidBodyPosition
pub fn from(position: T) -> RigidBodyPosition
Performs the conversion.
sourceimpl PartialEq<RigidBodyPosition> for RigidBodyPosition
impl PartialEq<RigidBodyPosition> for RigidBodyPosition
sourcepub fn eq(&self, other: &RigidBodyPosition) -> bool
pub fn eq(&self, other: &RigidBodyPosition) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcepub fn ne(&self, other: &RigidBodyPosition) -> bool
pub fn ne(&self, other: &RigidBodyPosition) -> bool
This method tests for !=
.
impl Copy for RigidBodyPosition
impl StructuralPartialEq for RigidBodyPosition
Auto Trait Implementations
impl RefUnwindSafe for RigidBodyPosition
impl Send for RigidBodyPosition
impl Sync for RigidBodyPosition
impl Unpin for RigidBodyPosition
impl UnwindSafe for RigidBodyPosition
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcepub fn borrow_mut(&mut self) -> &mut T
pub fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default,
pub fn from_world(_world: &mut World) -> T
pub fn from_world(_world: &mut World) -> T
Creates Self
using data from the given [World]
sourceimpl<T> Instrument for T
impl<T> Instrument for T
sourcefn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
sourcefn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcepub fn to_owned(&self) -> T
pub fn to_owned(&self) -> T
Creates owned data from borrowed data, usually by cloning. Read more
sourcepub fn clone_into(&self, target: &mut T)
pub fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more
impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
pub fn vzip(self) -> V
sourceimpl<T> WithSubscriber for T
impl<T> WithSubscriber for T
sourcefn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self> where
S: Into<Dispatch>,
fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self> where
S: Into<Dispatch>,
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
sourcefn with_current_subscriber(self) -> WithDispatch<Self>
fn with_current_subscriber(self) -> WithDispatch<Self>
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more