Struct rapier3d::dynamics::RigidBodyBuilder [−][src]
pub struct RigidBodyBuilder {
pub position: Isometry<Real>,
pub linvel: Vector<Real>,
pub angvel: AngVector<Real>,
pub gravity_scale: Real,
pub linear_damping: Real,
pub angular_damping: Real,
pub mass_properties: MassProperties,
pub can_sleep: bool,
pub sleeping: bool,
pub ccd_enabled: bool,
pub dominance_group: i8,
pub user_data: u128,
// some fields omitted
}
Expand description
A builder for rigid-bodies.
Fields
position: Isometry<Real>
The initial position of the rigid-body to be built.
linvel: Vector<Real>
The linear velocity of the rigid-body to be built.
angvel: AngVector<Real>
The angular velocity of the rigid-body to be built.
gravity_scale: Real
The scale factor applied to the gravity affecting the rigid-body to be built, 1.0
by default.
linear_damping: Real
Damping factor for gradually slowing down the translational motion of the rigid-body, 0.0
by default.
angular_damping: Real
Damping factor for gradually slowing down the angular motion of the rigid-body, 0.0
by default.
mass_properties: MassProperties
The additional mass properties of the rigid-body being built. See RigidBodyBuilder::additional_mass_properties
for more information.
can_sleep: bool
Whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.
sleeping: bool
Whether or not the rigid-body is to be created asleep.
ccd_enabled: bool
Whether continuous collision-detection is enabled for the rigid-body to be built.
CCD prevents tunneling, but may still allow limited interpenetration of colliders.
dominance_group: i8
The dominance group of the rigid-body to be built.
user_data: u128
An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.
Implementations
Initialize a new builder for a rigid body which is either static, dynamic, or kinematic.
Initializes the builder of a new static rigid body.
Initializes the builder of a new kinematic rigid body.
Initializes the builder of a new kinematic rigid body.
Initializes the builder of a new dynamic rigid body.
Sets the scale applied to the gravity force affecting the rigid-body to be created.
Sets the dominance group of this rigid-body.
Sets the initial translation of the rigid-body to be created.
Sets the initial orientation of the rigid-body to be created.
Sets the initial position (translation and orientation) of the rigid-body to be created.
An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.
Sets the additional mass properties of the rigid-body being built.
Note that “additional” means that the final mass properties of the rigid-bodies depends on the initial mass-properties of the rigid-body (set by this method) to which is added the contributions of all the colliders with non-zero density attached to this rigid-body.
Therefore, if you want your provided mass properties to be the final mass properties of your rigid-body, don’t attach colliders to it, or only attach colliders with densities equal to zero.
Prevents this rigid-body from translating because of forces.
Prevents this rigid-body from rotating because of forces.
pub fn restrict_rotations(
self,
allow_rotations_x: bool,
allow_rotations_y: bool,
allow_rotations_z: bool
) -> Self
pub fn restrict_rotations(
self,
allow_rotations_x: bool,
allow_rotations_y: bool,
allow_rotations_z: bool
) -> Self
Only allow rotations of this rigid-body around specific coordinate axes.
Sets the additional mass of the rigid-body being built.
This is only the “additional” mass because the total mass of the rigid-body is equal to the sum of this additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body.
👎 Deprecated: renamed to additional_mass
.
renamed to additional_mass
.
Sets the additional mass of the rigid-body being built.
This is only the “additional” mass because the total mass of the rigid-body is equal to the sum of this additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body.
Sets the additional principal angular inertia of this rigid-body.
This is only the “additional” angular inertia because the total angular inertia of the rigid-body is equal to the sum of this additional value and the angular inertia computed from the colliders (with non-zero densities) attached to this rigid-body.
👎 Deprecated: renamed to additional_principal_angular_inertia
.
renamed to additional_principal_angular_inertia
.
Sets the principal angular inertia of this rigid-body.
👎 Deprecated: renamed to additional_principal_angular_inertia
.
renamed to additional_principal_angular_inertia
.
Use self.principal_angular_inertia
instead.
Sets the damping factor for the linear part of the rigid-body motion.
The higher the linear damping factor is, the more quickly the rigid-body will slow-down its translational movement.
Sets the damping factor for the angular part of the rigid-body motion.
The higher the angular damping factor is, the more quickly the rigid-body will slow-down its rotational movement.
Sets the initial linear velocity of the rigid-body to be created.
Sets the initial angular velocity of the rigid-body to be created.
Sets whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.
Sets whether or not continuous collision-detection is enabled for this rigid-body.
CCD prevents tunneling, but may still allow limited interpenetration of colliders.
Sets whether or not the rigid-body is to be created asleep.
Trait Implementations
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
This method tests for !=
.
Auto Trait Implementations
impl RefUnwindSafe for RigidBodyBuilder
impl Send for RigidBodyBuilder
impl Sync for RigidBodyBuilder
impl Unpin for RigidBodyBuilder
impl UnwindSafe for RigidBodyBuilder
Blanket Implementations
Mutably borrows from an owned value. Read more
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
Checks if self
is actually part of its subset T
(and can be converted to it).
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
The inclusion map: converts self
to the equivalent element of its superset.