Struct rapier3d::dynamics::MultibodyJointSet [−][src]
pub struct MultibodyJointSet { /* fields omitted */ }Expand description
A set of rigid bodies that can be handled by a physics pipeline.
Implementations
pub fn iter(
&self
) -> impl Iterator<Item = (MultibodyJointHandle, &Multibody, &MultibodyLink)>
pub fn insert(
&mut self,
body1: RigidBodyHandle,
body2: RigidBodyHandle,
data: impl Into<JointData>
) -> Option<MultibodyJointHandle>
pub fn insert(
&mut self,
body1: RigidBodyHandle,
body2: RigidBodyHandle,
data: impl Into<JointData>
) -> Option<MultibodyJointHandle>
Inserts a new multibody_joint into this set.
pub fn remove<Bodies>(
&mut self,
handle: MultibodyJointHandle,
islands: &mut IslandManager,
bodies: &mut Bodies,
wake_up: bool
) where
Bodies: ComponentSetMut<RigidBodyActivation> + ComponentSet<RigidBodyType> + ComponentSetMut<RigidBodyIds>,
pub fn remove<Bodies>(
&mut self,
handle: MultibodyJointHandle,
islands: &mut IslandManager,
bodies: &mut Bodies,
wake_up: bool
) where
Bodies: ComponentSetMut<RigidBodyActivation> + ComponentSet<RigidBodyType> + ComponentSetMut<RigidBodyIds>,
Removes an multibody_joint from this set.
pub fn remove_multibody_articulations<Bodies>(
&mut self,
handle: RigidBodyHandle,
islands: &mut IslandManager,
bodies: &mut Bodies,
wake_up: bool
) where
Bodies: ComponentSetMut<RigidBodyActivation> + ComponentSet<RigidBodyType> + ComponentSetMut<RigidBodyIds>,
pub fn remove_multibody_articulations<Bodies>(
&mut self,
handle: RigidBodyHandle,
islands: &mut IslandManager,
bodies: &mut Bodies,
wake_up: bool
) where
Bodies: ComponentSetMut<RigidBodyActivation> + ComponentSet<RigidBodyType> + ComponentSetMut<RigidBodyIds>,
Removes all the multibody_joints from the multibody the given rigid-body is part of.
pub fn remove_articulations_attached_to_rigid_body<Bodies>(
&mut self,
rb_to_remove: RigidBodyHandle,
islands: &mut IslandManager,
bodies: &mut Bodies
) where
Bodies: ComponentSetMut<RigidBodyActivation> + ComponentSet<RigidBodyType> + ComponentSetMut<RigidBodyIds>,
Returns the link of this multibody attached to the given rigid-body.
Returns None if rb isn’t part of any rigid-body.
Gets a reference to a multibody, based on its temporary index.
Gets a mutable reference to a multibody, based on its temporary index.
This method will bypass any modification-detection automatically done by the
MultibodyJointSet.
Gets a reference to the multibody identified by its handle.
pub fn get_mut_internal(
&mut self,
handle: MultibodyJointHandle
) -> Option<(&mut Multibody, usize)>
pub fn get_mut_internal(
&mut self,
handle: MultibodyJointHandle
) -> Option<(&mut Multibody, usize)>
Gets a mutable reference to the multibody identified by its handle.
pub fn attached_bodies<'a>(
&'a self,
body: RigidBodyHandle
) -> impl Iterator<Item = RigidBodyHandle> + 'a
pub fn attached_bodies<'a>(
&'a self,
body: RigidBodyHandle
) -> impl Iterator<Item = RigidBodyHandle> + 'a
Iterate through the handles of all the rigid-bodies attached to this rigid-body by an multibody_joint.
Iterates through all the multibodies on this set.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for MultibodyJointSet
impl Send for MultibodyJointSet
impl Sync for MultibodyJointSet
impl Unpin for MultibodyJointSet
impl UnwindSafe for MultibodyJointSet
Blanket Implementations
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generate &Any’s vtable from &Trait’s. Read more
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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.