Struct rapier2d::dynamics::RigidBodyPosition
source · pub struct RigidBodyPosition {
pub position: Isometry<f32>,
pub next_position: Isometry<f32>,
}
Expand description
The position of this rigid-body.
Fields§
§position: Isometry<f32>
The world-space position of the rigid-body.
next_position: Isometry<f32>
The next position of the rigid-body.
At the beginning of the timestep, and when the timestep is complete we must have position == next_position except for kinematic bodies.
The next_position is updated after the velocity and position resolution. Then it is either validated (ie. we set position := set_position) or clamped by CCD.
Implementations§
source§impl RigidBodyPosition
impl RigidBodyPosition
sourcepub fn interpolate_velocity(
&self,
inv_dt: f32,
local_com: &Point<f32>,
) -> RigidBodyVelocity
pub fn interpolate_velocity( &self, inv_dt: f32, local_com: &Point<f32>, ) -> RigidBodyVelocity
Computes the velocity need to travel from self.position
to self.next_position
in
a time equal to 1.0 / inv_dt
.
sourcepub fn integrate_forces_and_velocities(
&self,
dt: f32,
forces: &RigidBodyForces,
vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps,
) -> Isometry<f32>
pub fn integrate_forces_and_velocities( &self, dt: f32, forces: &RigidBodyForces, vels: &RigidBodyVelocity, mprops: &RigidBodyMassProps, ) -> Isometry<f32>
Compute new positions after integrating the given forces and velocities.
This uses a symplectic Euler integration scheme.
Trait Implementations§
source§impl Clone for RigidBodyPosition
impl Clone for RigidBodyPosition
source§fn clone(&self) -> RigidBodyPosition
fn clone(&self) -> RigidBodyPosition
Returns a copy of the value. Read more
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source
. Read moresource§impl Debug for RigidBodyPosition
impl Debug for RigidBodyPosition
source§impl Default for RigidBodyPosition
impl Default for RigidBodyPosition
source§impl<'de> Deserialize<'de> for RigidBodyPosition
impl<'de> Deserialize<'de> for RigidBodyPosition
source§fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
source§impl<T> From<T> for RigidBodyPosition
impl<T> From<T> for RigidBodyPosition
source§impl PartialEq for RigidBodyPosition
impl PartialEq for RigidBodyPosition
source§fn eq(&self, other: &RigidBodyPosition) -> bool
fn eq(&self, other: &RigidBodyPosition) -> bool
This method tests for
self
and other
values to be equal, and is used
by ==
.source§impl Serialize for RigidBodyPosition
impl Serialize for RigidBodyPosition
impl Copy for RigidBodyPosition
impl StructuralPartialEq for RigidBodyPosition
Auto Trait Implementations§
impl Freeze for RigidBodyPosition
impl RefUnwindSafe for RigidBodyPosition
impl Send for RigidBodyPosition
impl Sync for RigidBodyPosition
impl Unpin for RigidBodyPosition
impl UnwindSafe for RigidBodyPosition
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T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
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fn borrow_mut(&mut self) -> &mut T
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impl<T> CloneToUninit for Twhere
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