Struct rapier2d::dynamics::RigidBodyPosition

pub struct RigidBodyPosition {
    pub position: Isometry<Real>,
    pub next_position: Isometry<Real>,
}

The position of this rigid-body.

Fields

position: Isometry<Real>

The world-space position of the rigid-body.

next_position: Isometry<Real>

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

impl RigidBodyPosition

pub fn interpolate_velocity( &self, inv_dt: Real, local_com: &Point<Real> ) -> RigidBodyVelocity

Computes the velocity need to travel from self.position to self.next_position in a time equal to 1.0 / inv_dt.

pub fn integrate_forces_and_velocities( &self, dt: Real, forces: &RigidBodyForces, vels: &RigidBodyVelocity, mprops: &RigidBodyMassProps ) -> Isometry<Real>

Compute new positions after integrating the given forces and velocities.

This uses a symplectic Euler integration scheme.

Trait Implementations

impl Clone for RigidBodyPosition

fn clone(&self) -> RigidBodyPosition

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyPosition

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

Formats the value using the given formatter.

impl Default for RigidBodyPosition

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for RigidBodyPosition

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<T> From<T> for RigidBodyPosition

where Isometry<Real>: From<T>,

fn from(position: T) -> Self

Converts to this type from the input type.

impl PartialEq for RigidBodyPosition

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

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

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for RigidBodyPosition

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for RigidBodyPosition

impl StructuralPartialEq for RigidBodyPosition