Struct rapier3d_f64::dynamics::RigidBodyMassProps

pub struct RigidBodyMassProps {
    pub flags: LockedAxes,
    pub local_mprops: MassProperties,
    pub additional_local_mprops: Option<Box<RigidBodyAdditionalMassProps>>,
    pub world_com: Point<Real>,
    pub effective_inv_mass: Vector<Real>,
    pub effective_world_inv_inertia_sqrt: AngularInertia<Real>,
}

The mass properties of a rigid-body.

Fields

flags: LockedAxes

Flags for locking rotation and translation.

local_mprops: MassProperties

The local mass properties of the rigid-body.

additional_local_mprops: Option<Box<RigidBodyAdditionalMassProps>>

Mass-properties of this rigid-bodies, added to the contributions of its attached colliders.

world_com: Point<Real>

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

effective_inv_mass: Vector<Real>

The inverse mass taking into account translation locking.

effective_world_inv_inertia_sqrt: AngularInertia<Real>

The square-root of the world-space inverse angular inertia tensor of the rigid-body, taking into account rotation locking.

Implementations

impl RigidBodyMassProps

pub fn mass(&self) -> Real

The mass of the rigid-body.

pub fn effective_mass(&self) -> Vector<Real>

The effective mass (that takes the potential translation locking into account) of this rigid-body.

pub fn effective_angular_inertia_sqrt(&self) -> AngularInertia<Real>

The square root of the effective world-space angular inertia (that takes the potential rotation locking into account) of this rigid-body.

pub fn effective_angular_inertia(&self) -> AngularInertia<Real>

The effective world-space angular inertia (that takes the potential rotation locking into account) of this rigid-body.

pub fn recompute_mass_properties_from_colliders( &mut self, colliders: &ColliderSet, attached_colliders: &RigidBodyColliders, position: &Isometry<Real> )

Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.

pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>)

Update the world-space mass properties of self, taking into account the new position.

Trait Implementations

impl Clone for RigidBodyMassProps

fn clone(&self) -> RigidBodyMassProps

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyMassProps

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

Formats the value using the given formatter.

impl Default for RigidBodyMassProps

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for RigidBodyMassProps

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<LockedAxes> for RigidBodyMassProps

fn from(flags: LockedAxes) -> Self

Converts to this type from the input type.

impl From<MassProperties> for RigidBodyMassProps

fn from(local_mprops: MassProperties) -> Self

Converts to this type from the input type.

impl PartialEq for RigidBodyMassProps

fn eq(&self, other: &RigidBodyMassProps) -> 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 RigidBodyMassProps

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for RigidBodyMassProps