Struct rapier2d_f64::dynamics::Multibody

pub struct Multibody { /* private fields */ }

An articulated body simulated using the reduced-coordinates approach.

Implementations

impl Multibody

pub fn new() -> Self

Creates a new multibody with no link.

pub fn inv_augmented_mass(&self) -> &LU<Real, Dyn, Dyn>

The inverse augmented mass matrix of this multibody.

pub fn root(&self) -> &MultibodyLink

The first link of this multibody.

pub fn root_mut(&mut self) -> &mut MultibodyLink

Mutable reference to the first link of this multibody.

pub fn link(&self, id: usize) -> Option<&MultibodyLink>

Reference i-th multibody link of this multibody.

Return None if there is less than i + 1 multibody links.

pub fn link_mut(&mut self, id: usize) -> Option<&mut MultibodyLink>

Mutable reference to the multibody link with the given id.

Return None if the given id does not identifies a multibody link part of self.

pub fn num_links(&self) -> usize

The number of links on this multibody.

pub fn links(&self) -> impl Iterator<Item = &MultibodyLink>

Iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

pub fn links_mut(&mut self) -> impl Iterator<Item = &mut MultibodyLink>

Mutable iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

pub fn damping(&self) -> &DVector<Real>

The vector of damping applied to this multibody.

pub fn damping_mut(&mut self) -> &mut DVector<Real>

Mutable vector of damping applied to this multibody.

pub fn joint_velocity(&self, link: &MultibodyLink) -> DVectorView<'_, Real>

The generalized velocity at the multibody_joint of the given link.

pub fn generalized_acceleration(&self) -> DVectorView<'_, Real>

The generalized accelerations of this multibodies.

pub fn generalized_velocity(&self) -> DVectorView<'_, Real>

The generalized velocities of this multibodies.

pub fn generalized_velocity_mut(&mut self) -> DVectorViewMut<'_, Real>

The mutable generalized velocities of this multibodies.

pub fn apply_displacements(&mut self, disp: &[Real])

Apply displacements, in generalized coordinates, to this multibody.

pub fn forward_kinematics( &mut self, bodies: &mut RigidBodySet, update_rb_mass_props: bool )

Apply forward-kinematics to this multibody and its related rigid-bodies.

pub fn ndofs(&self) -> usize

The total number of freedoms of this multibody.

Trait Implementations

impl Clone for Multibody

fn clone(&self) -> Multibody

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Default for Multibody

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Multibody

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for Multibody

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

where __S: Serializer,

Serialize this value into the given Serde serializer.