Struct nphysics3d::object::Ground

pub struct Ground<N: RealField + Copy> { /* fields omitted */ }

A singleton representing the ground.

Most of its methods are useless but provided anyway to be similar to the other bodies.

Implementations

impl<N: RealField + Copy> Ground<N>

pub fn new() -> Self

Build a new ground structrure.

Trait Implementations

impl<N: RealField + Copy> Body<N> for Ground<N>

fn gravity_enabled(&self) -> bool

Whether this body is affected by gravity.

fn enable_gravity(&mut self, _: bool)

Enable or disable gravity for this body.

fn step_started(&mut self)

fn update_kinematics(&mut self)

Updates the kinematics, e.g., positions and jacobians, of this body.

fn update_dynamics(&mut self, _: N)

Update the dynamics property of this body.

fn update_acceleration(&mut self, _: &Vector<N>, _: &IntegrationParameters<N>)

Update the acceleration of this body given the forces it is subject to and the gravity.

fn clear_forces(&mut self)

Reset the timestep-specific dynamic information of this body.

fn clear_update_flags(&mut self)

Clear all the update flags of this body.

fn update_status(&self) -> BodyUpdateStatus

The flags tracking what modifications were applied to a body.

fn num_parts(&self) -> usize

The number of parts of this body.

fn part(&self, i: usize) -> Option<&dyn BodyPart<N>>

A reference to the specified body part.

fn is_ground(&self) -> bool

Returns true if this body is the ground.

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

Applies a generalized displacement to this body.

fn status(&self) -> BodyStatus

The status of this body.

fn set_status(&mut self, _: BodyStatus)

Set the status of this body.

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

Information regarding activation and deactivation (sleeping) of this body.

fn is_active(&self) -> bool

Check if this body is active.

fn is_dynamic(&self) -> bool

Whether or not the status of this body is dynamic.

fn is_kinematic(&self) -> bool

Whether or not the status of this body is kinematic.

fn is_static(&self) -> bool

Whether or not the status of this body is static.

fn deformed_positions(&self) -> Option<(DeformationsType, &[N])>

If this is a deformable body, returns its deformed positions.

fn deformed_positions_mut(&mut self) -> Option<(DeformationsType, &mut [N])>

If this is a deformable body, returns a mutable reference to its deformed positions.

fn ndofs(&self) -> usize

The number of degrees of freedom of this body.

fn generalized_acceleration(&self) -> DVectorSlice<'_, N>

The generalized accelerations at each degree of freedom of this body.

fn generalized_velocity(&self) -> DVectorSlice<'_, N>

The generalized velocities of this body.

fn companion_id(&self) -> usize

The companion ID of this body.

fn set_companion_id(&mut self, id: usize)

Set the companion ID of this body (may be reinitialized by nphysics).

fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<'_, N>

The mutable generalized velocities of this body.

fn velocity_at_point(&self, _: usize, _: &Point<N>) -> Velocity<N>

Gets the velocity of the given point of this body.

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

Integrate the position of this body.

fn activate(&mut self)

Force the activation of this body.

fn activate_with_energy(&mut self, _: N)

Force the activation of this body with the given level of energy.

fn deactivate(&mut self)

Put this body to sleep.

fn set_deactivation_threshold(&mut self, _: Option<N>)

Sets the energy bellow which this body is put to sleep.

fn world_point_at_material_point(
    &self,
    _: &dyn BodyPart<N>,
    point: &Point<N>
) -> Point<N>

Transform the given point expressed in material coordinates to world-space.

fn position_at_material_point(
    &self,
    _: &dyn BodyPart<N>,
    point: &Point<N>
) -> Isometry<N>

Transform the given point expressed in material coordinates to world-space.

fn material_point_at_world_point(
    &self,
    _: &dyn BodyPart<N>,
    point: &Point<N>
) -> Point<N>

Transform the given point expressed in material coordinates to world-space.

fn fill_constraint_geometry(
    &self,
    _: &dyn BodyPart<N>,
    _: usize,
    _: &Point<N>,
    _: &ForceDirection<N>,
    _: usize,
    _: usize,
    _: &mut [N],
    _: &mut N,
    _: Option<&DVectorSlice<'_, N>>,
    _: Option<&mut N>
)

Fills all the jacobians (and the jacobians multiplied by the inverse augmented mass matrix) for a constraint applying a force at the point center (relative to the body part’s center of mass) and the direction dir.

fn advance(&mut self, _: N)

fn validate_advancement(&mut self)

fn clamp_advancement(&mut self)

fn part_motion(&self, _: usize, _: N) -> Option<BodyPartMotion<N>>

fn has_active_internal_constraints(&mut self) -> bool

Returns true if this bodies contains internal constraints that need to be solved.

fn setup_internal_velocity_constraints(
    &mut self,
    _: &DVectorSlice<'_, N>,
    _: &IntegrationParameters<N>
)

Initializes the internal velocity constraints of a body.

fn warmstart_internal_velocity_constraints(
    &mut self,
    _: &mut DVectorSliceMut<'_, N>
)

For warmstarting the solver, modifies the delta velocity applied by the internal constraints of this body.

fn step_solve_internal_velocity_constraints(
    &mut self,
    _: &mut DVectorSliceMut<'_, N>
)

Execute one step for the iterative resolution of this body’s internal velocity constraints.

fn step_solve_internal_position_constraints(
    &mut self,
    _: &IntegrationParameters<N>
)

Execute one step for the iterative resolution of this body’s internal position constraints.

fn apply_force(&mut self, _: usize, _: &Force<N>, _: ForceType, _: bool)

Apply a force at the center of mass of a part of this body.

fn apply_local_force(&mut self, _: usize, _: &Force<N>, _: ForceType, _: bool)

Apply a local force at the center of mass of a part of this body.

fn apply_force_at_point(
    &mut self,
    _: usize,
    _: &Vector<N>,
    _: &Point<N>,
    _: ForceType,
    _: bool
)

Apply a force at a given point of a part of this body.

fn apply_local_force_at_point(
    &mut self,
    _: usize,
    _: &Vector<N>,
    _: &Point<N>,
    _: ForceType,
    _: bool
)

Apply a local force at a given point of a part of this body.

fn apply_force_at_local_point(
    &mut self,
    _: usize,
    _: &Vector<N>,
    _: &Point<N>,
    _: ForceType,
    _: bool
)

Apply a force at a given local point of a part of this body.

fn apply_local_force_at_local_point(
    &mut self,
    _: usize,
    _: &Vector<N>,
    _: &Point<N>,
    _: ForceType,
    _: bool
)

Apply a local force at a given local point of a part of this body.

fn update_activation_status(&mut self)

Update whether this body needs to be waken up after a user-interaction.

fn add_local_inertia_and_com(
    &mut self,
    _part_index: usize,
    _com: Point<N>,
    _inertia: Inertia<N>
)

Add the given inertia to the local inertia of this body part.

fn status_dependent_ndofs(&self) -> usize

The number of degrees of freedom (DOF) of this body, taking its status into account.

fn status_dependent_body_part_velocity(
    &self,
    part: &dyn BodyPart<N>
) -> Velocity<N>

The velocity of the specified body part, taking this body status into account.

impl<N: RealField + Copy> BodyPart<N> for Ground<N>

fn is_ground(&self) -> bool

Returns true if this body part is the ground.

fn center_of_mass(&self) -> Point<N>

The center of mass of this body part.

fn local_center_of_mass(&self) -> Point<N>

The local center of mass of this body part.

fn position(&self) -> Isometry<N>

The position of this body part wrt. the ground.

fn safe_position(&self) -> Isometry<N>

If CCD is enabled, this is the last position known to be tunnelling-free.

fn velocity(&self) -> Velocity<N>

The velocity of this body part.

fn inertia(&self) -> Inertia<N>

The world-space inertia of this body part.

fn local_inertia(&self) -> Inertia<N>

The local-space inertia of this body part.

impl<N: Clone + RealField + Copy> Clone for Ground<N>

fn clone(&self) -> Ground<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for Ground<N>

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

Formats the value using the given formatter.