Struct parry2d::query::NonlinearRigidMotion [−][src]
pub struct NonlinearRigidMotion { pub start: Isometry<Real>, pub local_center: Point<Real>, pub linvel: Vector<Real>, pub angvel: Real, }
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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impl NonlinearRigidMotion
[src]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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impl Clone for NonlinearRigidMotion
[src]fn clone(&self) -> NonlinearRigidMotion
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
impl Copy for NonlinearRigidMotion
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impl Copy for NonlinearRigidMotion
[src]Auto Trait Implementations
impl RefUnwindSafe for NonlinearRigidMotion
impl RefUnwindSafe for NonlinearRigidMotion
impl Send for NonlinearRigidMotion
impl Send for NonlinearRigidMotion
impl Sync for NonlinearRigidMotion
impl Sync for NonlinearRigidMotion
impl Unpin for NonlinearRigidMotion
impl Unpin for NonlinearRigidMotion
impl UnwindSafe for NonlinearRigidMotion
impl UnwindSafe for NonlinearRigidMotion
Blanket Implementations
impl<T> CheckedAs for T
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impl<T> CheckedAs for T
[src]pub fn checked_as<Dst>(self) -> Option<Dst> where
T: CheckedCast<Dst>,
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T: CheckedCast<Dst>,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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impl<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
[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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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
[src]pub fn lossy_into(self) -> Dst
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impl<T> OverflowingAs for T
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impl<T> OverflowingAs for T
[src]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
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> SaturatingAs for T
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impl<T> SaturatingAs for T
[src]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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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]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> UnwrappedAs for T
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impl<T> UnwrappedAs for T
[src]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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impl<T> WrappingAs for T
[src]pub fn wrapping_as<Dst>(self) -> Dst where
T: WrappingCast<Dst>,
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T: WrappingCast<Dst>,