[−][src]Struct rapier3d::dynamics::MassProperties
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.
principal_inertia_local_frame: Rotation<f32>
The principal vectors of the local angular inertia tensor of the rigid-body.
Implementations
impl MassProperties
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pub fn world_com(&self, pos: &Isometry<f32>) -> Point<f32>
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The world-space center of mass of the rigid-body.
pub fn world_inv_inertia_sqrt(&self, rot: &Rotation<f32>) -> AngularInertia<f32>
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The world-space inverse angular inertia tensor of the rigid-body.
pub fn reconstruct_inertia_matrix(&self) -> Matrix3<f32>
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Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axii.
Trait Implementations
impl Add<MassProperties> for MassProperties
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type Output = Self
The resulting type after applying the +
operator.
fn add(self, other: MassProperties) -> Self
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impl AddAssign<MassProperties> for MassProperties
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fn add_assign(&mut self, rhs: MassProperties)
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impl Clone for MassProperties
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fn clone(&self) -> MassProperties
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fn clone_from(&mut self, source: &Self)
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impl Copy for MassProperties
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impl Debug for MassProperties
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impl PartialEq<MassProperties> for MassProperties
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fn eq(&self, other: &MassProperties) -> bool
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fn ne(&self, other: &MassProperties) -> bool
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impl StructuralPartialEq for MassProperties
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impl Zero for MassProperties
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Auto Trait Implementations
impl RefUnwindSafe for MassProperties
impl Send for MassProperties
impl Sync for MassProperties
impl Unpin for MassProperties
impl UnwindSafe for MassProperties
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T, Right> ClosedAdd<Right> for T where
T: Add<Right, Output = T> + AddAssign<Right>,
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T: Add<Right, Output = T> + AddAssign<Right>,
impl<T> Downcast for T where
T: Any,
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn as_any(&self) -> &(dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
impl<T> Slottable for T where
T: Copy,
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T: Copy,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,