Struct nphysics3d::object::MultibodyLinkMut [−][src]
pub struct MultibodyLinkMut<'a, N: Real> { /* fields omitted */ }
Mutable reference to a multibody link.
Methods
impl<'a, N: Real> MultibodyLinkMut<'a, N>
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impl<'a, N: Real> MultibodyLinkMut<'a, N>
pub fn new(id: MultibodyLinkId, multibody: &'a mut Multibody<N>) -> Self
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pub fn new(id: MultibodyLinkId, multibody: &'a mut Multibody<N>) -> Self
Creates a new mutable reference of a multibody link.
pub fn handle(&self) -> BodyHandle
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pub fn handle(&self) -> BodyHandle
The handle of this link.
pub fn as_ref<'b>(&'b self) -> MultibodyLinkRef<'b, N>
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pub fn as_ref<'b>(&'b self) -> MultibodyLinkRef<'b, N>
Retrieve an immutable reference to this link.
pub fn joint_mut(&mut self) -> &mut Joint<N>
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pub fn joint_mut(&mut self) -> &mut Joint<N>
Mutable reference to the joint attaching this link to its parent.
pub fn apply_force(&mut self, force: &Force<N>)
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pub fn apply_force(&mut self, force: &Force<N>)
Apply a force to this link.
pub fn joint_velocity_mut(&mut self) -> DVectorSliceMut<N>
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pub fn joint_velocity_mut(&mut self) -> DVectorSliceMut<N>
Retriev the mutable generalized velocities of this link.
Auto Trait Implementations
impl<'a, N> Send for MultibodyLinkMut<'a, N> where
N: Scalar,
impl<'a, N> Send for MultibodyLinkMut<'a, N> where
N: Scalar,
impl<'a, N> Sync for MultibodyLinkMut<'a, N> where
N: Scalar,
impl<'a, N> Sync for MultibodyLinkMut<'a, N> where
N: Scalar,