Struct rapier3d::dynamics::Multibody [−][src]
pub struct Multibody { /* fields omitted */ }
Expand description
An articulated body simulated using the reduced-coordinates approach.
Implementations
The first link of this multibody.
Mutable reference to the first link of this multibody.
Reference i
-th multibody link of this multibody.
Return None
if there is less than i + 1
multibody links.
Mutable reference to the multibody link with the given id.
Return None
if the given id does not identifies a multibody link part of self
.
pub fn links_with_name<'a>(
&'a self,
name: &'a str
) -> impl Iterator<Item = (usize, &'a MultibodyLink)>
pub fn links_with_name<'a>(
&'a self,
name: &'a str
) -> impl Iterator<Item = (usize, &'a MultibodyLink)>
The links of this multibody with the given name
.
Iterator through all the links of this multibody.
All link are guaranteed to be yielded before its descendant.
Mutable iterator through all the links of this multibody.
All link are guaranteed to be yielded before its descendant.
Mutable vector of damping applied to this multibody.
pub fn add_link(
&mut self,
parent: Option<usize>,
dof: MultibodyJoint,
body: RigidBodyHandle
) -> &mut MultibodyLink
pub fn update_acceleration<Bodies>(&mut self, bodies: &Bodies) where
Bodies: ComponentSet<RigidBodyMassProps> + ComponentSet<RigidBodyForces> + ComponentSet<RigidBodyVelocity>,
pub fn update_dynamics<Bodies>(&mut self, dt: Real, bodies: &mut Bodies) where
Bodies: ComponentSetMut<RigidBodyVelocity> + ComponentSet<RigidBodyMassProps>,
pub fn update_dynamics<Bodies>(&mut self, dt: Real, bodies: &mut Bodies) where
Bodies: ComponentSetMut<RigidBodyVelocity> + ComponentSet<RigidBodyMassProps>,
Computes the constant terms of the dynamics.
pub fn update_root_type<Bodies>(&mut self, bodies: &mut Bodies) where
Bodies: ComponentSet<RigidBodyType> + ComponentSet<RigidBodyPosition>,
pub fn forward_kinematics_next<Bodies>(
&mut self,
bodies: &mut Bodies,
update_mass_props: bool
) where
Bodies: ComponentSet<RigidBodyType> + ComponentSetMut<RigidBodyMassProps> + ComponentSetMut<RigidBodyPosition>,
pub fn fill_jacobians(
&self,
link_id: usize,
unit_force: Vector<Real>,
unit_torque: SVector<Real, ANG_DIM>,
j_id: &mut usize,
jacobians: &mut DVector<Real>
) -> (Real, Real)
pub fn generate_internal_constraints(
&self,
params: &IntegrationParameters,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
out: &mut Vec<AnyJointVelocityConstraint>
)
Auto Trait Implementations
impl RefUnwindSafe for Multibody
impl UnwindSafe for Multibody
Blanket Implementations
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Checks if self
is actually part of its subset T
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Use with care! Same as self.to_subset
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The inclusion map: converts self
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