Struct oxygengine_physics_2d::prelude::MultibodyLink

pub struct MultibodyLink<N> where
    N: RealField,  { /* fields omitted */ }

One link of a multibody.

Implementations

impl<N> MultibodyLink<N> where
    N: RealField, 

pub fn new(
    internal_id: usize,
    assembly_id: usize,
    impulse_id: usize,
    parent_internal_id: usize,
    dof: Box<dyn Joint<N> + 'static, Global>,
    parent_shift: Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>,
    body_shift: Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>,
    parent_to_world: Isometry<N, U2, Unit<Complex<N>>>,
    local_to_world: Isometry<N, U2, Unit<Complex<N>>>,
    local_to_parent: Isometry<N, U2, Unit<Complex<N>>>,
    local_inertia: Inertia2<N>,
    local_com: Point<N, U2>
) -> MultibodyLink<N>

Creates a new multibody link.

pub fn is_root(&self) -> bool

Checks if this link is the root of the multibody.

pub fn joint(&self) -> &(dyn Joint<N> + 'static)

Reference to the joint attaching this link to its parent.

pub fn joint_mut(&mut self) -> &mut (dyn Joint<N> + 'static)

Mutable reference to the joint attaching this link to its parent.

pub fn parent_shift(
    &self
) -> &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>

The shift between this link’s parent and this link joint origin.

pub fn body_shift(
    &self
) -> &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>

The shift between this link’s joint origin and this link origin.

pub fn name(&self) -> &str

This link’s name.

pub fn set_name(&mut self, name: String)

Sets this link’s name.

pub fn link_id(&self) -> usize

The handle of this multibody link.

pub fn parent_id(&self) -> Option<usize>

The handle of the parent link.

Trait Implementations

impl<N> BodyPart<N> for MultibodyLink<N> where
    N: RealField, 

pub fn is_ground(&self) -> bool

Returns true if this body part is the ground.

pub fn center_of_mass(&self) -> Point<N, U2>

The center of mass of this body part.

pub fn local_center_of_mass(&self) -> Point<N, U2>

The local center of mass of this body part.

pub fn velocity(&self) -> Velocity2<N>

The velocity of this body part.

pub fn position(&self) -> Isometry<N, U2, Unit<Complex<N>>>

The position of this body part wrt. the ground.

pub fn local_inertia(&self) -> Inertia2<N>

The local-space inertia of this body part.

pub fn inertia(&self) -> Inertia2<N>

The world-space inertia of this body part.

pub fn safe_position(&self) -> Isometry<N, U2, Unit<Complex<N>>>

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