Struct parry2d_f64::query::NonlinearRigidMotion [−][src]
A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.
Fields
start: Isometry<Real>
The starting isometry at t = 0
.
local_center: Point<Real>
The local-space point at which the rotational part of this motion is applied.
linvel: Vector<Real>
The translational velocity of this motion.
angvel: Real
The angular velocity of this motion.
Implementations
impl NonlinearRigidMotion
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pub fn new(
start: Isometry<Real>,
local_center: Point<Real>,
linvel: Vector<Real>,
angvel: Real
) -> Self
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start: Isometry<Real>,
local_center: Point<Real>,
linvel: Vector<Real>,
angvel: Real
) -> Self
Initialize a motion from a starting isometry and linear and angular velocities.
pub fn identity() -> Self
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Create a NonlinearRigidMotion
that always returns the identity matrix.
pub fn constant_position(pos: Isometry<Real>) -> Self
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Create a NonlinearRigidMotion
that always return pos
.
pub fn freeze(&mut self, t: Real)
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Freezes this motion at the time t
.
After calling this, any further calls to self.position_at_time
will always return self.position_at_time(t)
(where t
is the value given
to this method). This sets the linear velocity and angular velocity
of self
to zero.
#[must_use]pub fn append_translation(&self, tra: Vector<Real>) -> Self
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Appends a constant translation to this rigid-motion.
#[must_use]pub fn prepend_translation(&self, tra: Vector<Real>) -> Self
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Prepends a constant translation to this rigid-motion.
#[must_use]pub fn append(&self, iso: Isometry<Real>) -> Self
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Appends a constant isometry to this rigid-motion.
#[must_use]pub fn prepend(&self, iso: Isometry<Real>) -> Self
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Prepends a constant translation to this rigid-motion.
pub fn position_at_time(&self, t: Real) -> Isometry<Real>
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Computes the position at time t
of a rigid-body following the motion described by self
.
Trait Implementations
impl Clone for NonlinearRigidMotion
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fn clone(&self) -> NonlinearRigidMotion
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pub fn clone_from(&mut self, source: &Self)
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impl Copy for NonlinearRigidMotion
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impl Debug for NonlinearRigidMotion
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Auto Trait Implementations
impl RefUnwindSafe for NonlinearRigidMotion
impl Send for NonlinearRigidMotion
impl Sync for NonlinearRigidMotion
impl Unpin for NonlinearRigidMotion
impl UnwindSafe for NonlinearRigidMotion
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Az for T
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impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CheckedAs for T
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pub fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,
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T: CheckedCast<Dst>,
impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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Dst: LosslessTryFrom<Src>,
pub fn lossless_try_into(self) -> Option<Dst>
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
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Dst: LossyFrom<Src>,
pub fn lossy_into(self) -> Dst
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impl<T> OverflowingAs for T
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pub fn overflowing_as<Dst>(self) -> (Dst, bool) where
T: OverflowingCast<Dst>,
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T: OverflowingCast<Dst>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> SaturatingAs for T
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pub fn saturating_as<Dst>(self) -> Dst where
T: SaturatingCast<Dst>,
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T: SaturatingCast<Dst>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> UnwrappedAs for T
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pub fn unwrapped_as<Dst>(self) -> Dst where
T: UnwrappedCast<Dst>,
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T: UnwrappedCast<Dst>,
impl<T> WrappingAs for T
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pub fn wrapping_as<Dst>(self) -> Dst where
T: WrappingCast<Dst>,
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T: WrappingCast<Dst>,