Struct rapier2d::dynamics::MassProperties

pub struct MassProperties {
    pub local_com: Point<f32>,
    pub inv_mass: f32,
    pub inv_principal_inertia_sqrt: AngVector<f32>,
}

The local mass properties of a rigid-body.

Fields

local_com: Point<f32>

The center of mass of a rigid-body expressed in its local-space.

inv_mass: f32

The inverse of the mass of a rigid-body.

If this is zero, the rigid-body is assumed to have infinite mass.

inv_principal_inertia_sqrt: AngVector<f32>

The inverse of the principal angular inertia of the rigid-body.

Components set to zero are assumed to be infinite along the corresponding principal axis.

Implementations

impl MassProperties

pub fn new(local_com: Point<f32>, mass: f32, principal_inertia: f32) -> Self

Initializes the mass properties with the given center-of-mass, mass, and angular inertia.

The center-of-mass is specified in the local-space of the rigid-body.

pub fn world_com(&self, pos: &Isometry<f32>) -> Point<f32>

The world-space center of mass of the rigid-body.

pub fn world_inv_inertia_sqrt(
    &self,
    _rot: &Rotation<f32>
) -> AngularInertia<f32>

The world-space inverse angular inertia tensor of the rigid-body.

pub fn transform_by(&self, m: &Isometry<f32>) -> Self

Transform each element of the mass properties.

Trait Implementations

impl AbsDiffEq<MassProperties> for MassProperties

type Epsilon = f32

Used for specifying relative comparisons.

pub fn default_epsilon() -> Self::Epsilon

The default tolerance to use when testing values that are close together.

pub fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool

A test for equality that uses the absolute difference to compute the approximate equality of two numbers.

pub fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool

The inverse of AbsDiffEq::abs_diff_eq.

impl Add<MassProperties> for MassProperties

type Output = Self

The resulting type after applying the + operator.

pub fn add(self, other: MassProperties) -> Self

Performs the + operation.

impl AddAssign<MassProperties> for MassProperties

pub fn add_assign(&mut self, rhs: MassProperties)

Performs the += operation.

impl Clone for MassProperties

pub fn clone(&self) -> MassProperties

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for MassProperties

impl Debug for MassProperties

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

Formats the value using the given formatter.

impl PartialEq<MassProperties> for MassProperties

pub fn eq(&self, other: &MassProperties) -> bool

This method tests for self and other values to be equal, and is used by ==.

pub fn ne(&self, other: &MassProperties) -> bool

This method tests for !=.

impl RelativeEq<MassProperties> for MassProperties

pub fn default_max_relative() -> Self::Epsilon

The default relative tolerance for testing values that are far-apart.

pub fn relative_eq(
    &self,
    other: &Self,
    epsilon: Self::Epsilon,
    max_relative: Self::Epsilon
) -> bool

A test for equality that uses a relative comparison if the values are far apart.

pub fn relative_ne(
    &self,
    other: &Rhs,
    epsilon: Self::Epsilon,
    max_relative: Self::Epsilon
) -> bool

The inverse of RelativeEq::relative_eq.

impl StructuralPartialEq for MassProperties

impl Sub<MassProperties> for MassProperties

type Output = Self

The resulting type after applying the - operator.

pub fn sub(self, other: MassProperties) -> Self

Performs the - operation.

impl SubAssign<MassProperties> for MassProperties

pub fn sub_assign(&mut self, rhs: MassProperties)

Performs the -= operation.

impl Zero for MassProperties

pub fn zero() -> Self

Returns the additive identity element of Self, 0.

pub fn is_zero(&self) -> bool

Returns true if self is equal to the additive identity.

pub fn set_zero(&mut self)

Sets self to the additive identity element of Self, 0.