Enum nphysics3d::object::BodyPart [−][src]
pub enum BodyPart<'a, N: Real> { RigidBody(&'a RigidBody<N>), MultibodyLink(MultibodyLinkRef<'a, N>), Ground(&'a Ground<N>), }
A mutable body part contained by the physics world.
Variants
RigidBody(&'a RigidBody<N>)A rigid body.
MultibodyLink(MultibodyLinkRef<'a, N>)A link of a multibody.
Ground(&'a Ground<N>)The ground.
Methods
impl<'a, N: Real> BodyPart<'a, N>[src]
impl<'a, N: Real> BodyPart<'a, N>pub fn is_ground(&self) -> bool[src]
pub fn is_ground(&self) -> boolReturns true if this body is the ground.
pub fn handle(&self) -> BodyHandle[src]
pub fn handle(&self) -> BodyHandleThe handle of this body.
pub fn parent_ndofs(&self) -> usize[src]
pub fn parent_ndofs(&self) -> usizeThe number of degrees of freedom of the body containing this body part.
pub fn parent_companion_id(&self) -> usize[src]
pub fn parent_companion_id(&self) -> usizeThe companion ID of the parent of this body part.
pub fn is_active(&self) -> bool[src]
pub fn is_active(&self) -> boolCheck if this body part is active.
pub fn status_dependent_parent_ndofs(&self) -> usize[src]
pub fn status_dependent_parent_ndofs(&self) -> usizeThe number of degrees of freedom (DOF) of the body containing this body part, taking its status into account.
In particular, this returns 0 for any body with a status different than BodyStatus::Dynamic.
pub fn parent_generalized_velocity(&self) -> DVectorSlice<N>[src]
pub fn parent_generalized_velocity(&self) -> DVectorSlice<N>The generalized velocities of the body containing this body part.
pub fn center_of_mass(&self) -> Point<N>[src]
pub fn center_of_mass(&self) -> Point<N>The center of mass of this body part.
pub fn position(&self) -> Isometry<N>[src]
pub fn position(&self) -> Isometry<N>The position of this body part wrt. the ground.
pub fn velocity(&self) -> Velocity<N>[src]
pub fn velocity(&self) -> Velocity<N>The velocity of this body part.
pub fn inertia(&self) -> Inertia<N>[src]
pub fn inertia(&self) -> Inertia<N>The world-space inertia of this body part.
pub fn local_inertia(&self) -> Inertia<N>[src]
pub fn local_inertia(&self) -> Inertia<N>The local-space inertia of this body part.
pub fn status_dependent_velocity(&self) -> Velocity<N>[src]
pub fn status_dependent_velocity(&self) -> Velocity<N>The velocity of this body part, taking it status into account.
This always return zero if the body part is static.
pub fn body_jacobian_mul_force(&self, force: &Force<N>, out: &mut [N])[src]
pub fn body_jacobian_mul_force(&self, force: &Force<N>, out: &mut [N])Convert a force applied to the center of mass of this body part into generalized force.
pub fn inv_mass_mul_generalized_forces(&self, out: &mut [N])[src]
pub fn inv_mass_mul_generalized_forces(&self, out: &mut [N])Convert generalized forces applied to this body part into generalized accelerations.
pub fn inv_mass_mul_force(&self, force: &Force<N>, out: &mut [N])[src]
pub fn inv_mass_mul_force(&self, force: &Force<N>, out: &mut [N])Convert a force applied to this body part's center of mass into generalized accelerations.