Struct PyRigidBody 

pub struct PyRigidBody {

    pub id: u32,
    pub mass: f64,
    pub inertia: [f64; 3],
    pub position: [f64; 3],
    pub orientation: [f64; 4],
    pub velocity: [f64; 3],
    pub ang_vel: [f64; 3],
    pub accumulated_force: [f64; 3],
    pub accumulated_torque: [f64; 3],
    pub sleeping: bool,
    pub is_static: bool,
    pub is_kinematic: bool,
    pub linear_damping: f64,
    pub angular_damping: f64,
}

A rigid body with full kinematic and dynamic state.

Positions and orientations are stored as plain arrays for easy FFI. The orientation quaternion uses convention [x, y, z, w].

Fields

id: u32

Unique handle for this body.

mass: f64

Mass in kilograms. Zero means static.

inertia: [f64; 3]

Diagonal inertia tensor [Ixx, Iyy, Izz].

position: [f64; 3]

World-space position [x, y, z].

orientation: [f64; 4]

Orientation quaternion [x, y, z, w].

velocity: [f64; 3]

Linear velocity [vx, vy, vz].

ang_vel: [f64; 3]

Angular velocity [wx, wy, wz].

accumulated_force: [f64; 3]

Accumulated force buffer [fx, fy, fz].

accumulated_torque: [f64; 3]

Accumulated torque buffer [tx, ty, tz].

sleeping: bool

Whether the body is sleeping.

is_static: bool

Whether the body is static (immovable).

is_kinematic: bool

Whether the body is kinematic (user-controlled velocity).

linear_damping: f64

Linear damping coefficient.

angular_damping: f64

Angular damping coefficient.

Implementations

impl PyRigidBody

pub fn new(id: u32, mass: f64, position: [f64; 3]) -> Self

Create a new dynamic rigid body.

pub fn new_static(id: u32, position: [f64; 3]) -> Self

Create a static body (zero mass, immovable).

pub fn new_kinematic(id: u32, mass: f64, position: [f64; 3]) -> Self

Create a kinematic body.

pub fn apply_force(&mut self, force: [f64; 3])

Apply a world-space force (accumulates until clear_forces is called).

pub fn apply_torque(&mut self, torque: [f64; 3])

Apply a torque about the body’s centre of mass.

pub fn apply_impulse(&mut self, impulse: [f64; 3])

Apply a linear impulse (instantaneous velocity change).

pub fn apply_angular_impulse(&mut self, ang_impulse: [f64; 3])

Apply an angular impulse (instantaneous angular velocity change).

pub fn clear_forces(&mut self)

Clear accumulated forces and torques.

pub fn integrate(&mut self, dt: f64, gravity: [f64; 3])

Integrate the body forward by dt seconds (semi-implicit Euler).

pub fn kinetic_energy(&self) -> f64

Kinetic energy of this body.

pub fn linear_momentum(&self) -> [f64; 3]

Linear momentum [px, py, pz].

pub fn inv_mass(&self) -> f64

Effective inverse mass (0 for static).

Trait Implementations

impl Clone for PyRigidBody

fn clone(&self) -> PyRigidBody

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PyRigidBody

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for PyRigidBody

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for PyRigidBody

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.