Struct nphysics3d::object::Multibody

pub struct Multibody<N: Real> { /* fields omitted */ }

An articulated body simulated using the reduced-coordinates approach.

Methods

impl<N: Real> Multibody<N>

pub fn new() -> Self

Creates a new multibody with no link.

pub fn handle(&self) -> BodyHandle

The handle of this multibody.

This is the same as the handle of the link at the root of the multibody's kinematic tree.

pub fn activation_status(&self) -> &ActivationStatus<N>

Informations regarding activation and deactivation (sleeping) of this multibody.

pub fn activation_status_mut(&mut self) -> &mut ActivationStatus<N>

Mutable informations regarding activation and deactivation (sleeping) of this multibody.

pub fn activate(&mut self)

Force the activation of this multibody link.

pub fn activate_with_energy(&mut self, energy: N)

Force the activation of this multibody link with the given level of energy.

pub fn deactivate(&mut self)

Put this multibody to sleep.

pub fn is_active(&self) -> bool

Return true if this multibody is kinematic or dynamic and awake.

pub fn status(&self) -> BodyStatus

The status of this multibody.

pub fn set_status(&mut self, status: BodyStatus)

Set the status of this body.

pub fn companion_id(&self) -> usize

The companion ID of this multibody.

pub fn set_companion_id(&mut self, id: usize)

Set the companion ID of this multibody.

This value may be overriden by nphysics during a timestep.

pub fn is_dynamic(&self) -> bool

Whether or not the status of this multibody is dynamic.

pub fn is_static(&self) -> bool

Whether or not the status of this multibody is static.

pub fn is_kinematic(&self) -> bool

Whether or not the status of this multibody is kinematic.

pub fn ndofs(&self) -> usize

The total number of degrees of freedom of this multibody.

Important traits for MultibodyLinks<'a, N>

impl<'a, N: Real> Iterator for MultibodyLinks<'a, N> type Item = MultibodyLinkRef<'a, N>;

pub fn links(&self) -> MultibodyLinks<N>

Iterator through all the links of this multibody.alloc_jemalloc

All link are guarenteed to be yielded before its descendet.

pub fn link(&self, rb_id: MultibodyLinkId) -> MultibodyLinkRef<N>

Get a reference to a specific multibody link.

pub fn link_mut(&mut self, rb_id: MultibodyLinkId) -> MultibodyLinkMut<N>

Get a mutable reference to a specific multibody link.

pub fn generalized_velocity(&self) -> DVectorSlice<N>

The vector of generalized velocities of this multibody.

Important traits for &'a [u8]

impl<'a> Read for &'a [u8]impl<'a> Write for &'a mut [u8]

pub fn generalized_velocity_slice(&self) -> &[N]

The slice of generalized velocities of this multibody.

pub fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<N>

The mutable vector of generalized velocities of this multibody.

Important traits for &'a [u8]

impl<'a> Read for &'a [u8]impl<'a> Write for &'a mut [u8]

pub fn generalized_velocity_slice_mut(&mut self) -> &mut [N]

The mutable slice of generalized velocities of this multibody.

pub fn generalized_acceleration(&self) -> DVectorSlice<N>

The vector of generalized accelerations of this multibody.

pub fn damping(&self) -> DVectorSlice<N>

The vector of damping applied to this multibody.

pub fn damping_mut(&mut self) -> DVectorSliceMut<N>

Mutable vector of damping applied to this multibody.

pub fn impulses(&self) -> DVectorSlice<N>

Generalized impulses applied to each degree of freedom.

Important traits for Vec<u8>

impl Write for Vec<u8>

pub fn remove_links(self, links: &[MultibodyLinkId]) -> Vec<Multibody<N>>

Remove a set of links from this multibody.

pub fn integrate(&mut self, params: &IntegrationParameters<N>)

Integrate the position of all the links of this multibody.

pub fn apply_displacement(&mut self, disp: &[N])

Apply a displacement to each degrees of freedom of this multibody.

pub fn clear_dynamics(&mut self)

Reset the timestep-specific dynamic information of this multibody.

pub fn update_kinematics(&mut self)

Updates the positions of the rigid bodies.

pub fn update_dynamics(     &mut self,     gravity: &Vector<N>,     params: &IntegrationParameters<N>,     workspace: &mut MultibodyWorkspace<N> )

Computes the constant terms of the dynamics.

pub fn body_jacobian_mul_force(     &self,     rb_id: MultibodyLinkId,     force: &Force<N>,     out: &mut [N] )

Convert a force applied to the center of mass of the link rb_id into generalized force.

pub fn inv_mass_mul_generalized_forces(&self, generalized_force: &mut [N])

Convert generalized forces applied to this multibody into generalized accelerations.

pub fn inv_mass_mul_force(     &self,     rb_id: MultibodyLinkId,     force: &Force<N>,     out: &mut [N] )

Convert a force applied to this multibody's link rb_id center of mass into generalized accelerations.

pub fn inv_mass_mul_unit_joint_force(     &self,     rb_id: MultibodyLinkId,     dof_id: usize,     force: N,     out: &mut [N] )

Convert a generalized force applied to le link rb_id's degrees of freedom into generalized accelerations.

The joint attaching this link to its parent is assumed to be a unit joint.

pub fn inv_mass_mul_joint_force(     &self,     rb_id: MultibodyLinkId,     force: DVectorSlice<N>,     out: &mut [N] )

Convert a generalized force applied to the link rb_id's degrees of freedom into generalized accelerations.

pub fn augmented_mass(&self) -> &DMatrix<N>

The augmented mass (inluding gyroscropic and coriolis terms) in world-space of this multibody.

pub fn constraints(     &mut self,     params: &IntegrationParameters<N>,     ext_vels: &DVector<N>,     ground_j_id: &mut usize,     jacobians: &mut [N],     constraints: &mut ConstraintSet<N> )

Generates the set of velocity and position constraints needed for joint limits and motors at each link of this multibody.

pub fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)

Store impulses computed by the solver for joint limits and motors.