Struct rapier3d::dynamics::RigidBodyBuilder

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 can_sleep: bool,
    pub sleeping: bool,
    pub ccd_enabled: bool,
    pub dominance_group: i8,
    pub enabled: bool,
    pub user_data: u128,
    pub additional_solver_iterations: usize,
    /* private fields */
}

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.

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.

enabled: bool

Will the rigid-body being built be enabled?

user_data: u128

An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.

additional_solver_iterations: usize

The additional number of solver iterations run for this rigid-body and everything interacting with it.

See RigidBody::set_additional_solver_iterations for additional information.

Implementations

impl RigidBodyBuilder

pub fn new(body_type: RigidBodyType) -> Self

Initialize a new builder for a rigid body which is either fixed, dynamic, or kinematic.

pub fn new_static() -> Self

👎Deprecated: use RigidBodyBuilder::fixed() instead

Initializes the builder of a new fixed rigid body.

pub fn new_kinematic_velocity_based() -> Self

👎Deprecated: use RigidBodyBuilder::kinematic_velocity_based() instead

Initializes the builder of a new velocity-based kinematic rigid body.

pub fn new_kinematic_position_based() -> Self

👎Deprecated: use RigidBodyBuilder::kinematic_position_based() instead

Initializes the builder of a new position-based kinematic rigid body.

pub fn fixed() -> Self

Initializes the builder of a new fixed rigid body.

pub fn kinematic_velocity_based() -> Self

Initializes the builder of a new velocity-based kinematic rigid body.

pub fn kinematic_position_based() -> Self

Initializes the builder of a new position-based kinematic rigid body.

pub fn dynamic() -> Self

Initializes the builder of a new dynamic rigid body.

pub fn additional_solver_iterations(self, additional_iterations: usize) -> Self

Sets the additional number of solver iterations run for this rigid-body and everything interacting with it.

See RigidBody::set_additional_solver_iterations for additional information.

pub fn gravity_scale(self, scale_factor: Real) -> Self

Sets the scale applied to the gravity force affecting the rigid-body to be created.

pub fn dominance_group(self, group: i8) -> Self

Sets the dominance group of this rigid-body.

pub fn translation(self, translation: Vector<Real>) -> Self

Sets the initial translation of the rigid-body to be created.

pub fn rotation(self, angle: AngVector<Real>) -> Self

Sets the initial orientation of the rigid-body to be created.

pub fn position(self, pos: Isometry<Real>) -> Self

Sets the initial position (translation and orientation) of the rigid-body to be created.

pub fn user_data(self, data: u128) -> Self

An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.

pub fn additional_mass_properties(self, mprops: MassProperties) -> Self

Sets the additional mass-properties of the rigid-body being built.

This will be overridden by a call to Self::additional_mass so it only makes sense to call either Self::additional_mass or Self::additional_mass_properties.

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.

pub fn additional_mass(self, mass: Real) -> Self

Sets the additional mass of the rigid-body being built.

This will be overridden by a call to Self::additional_mass_properties so it only makes sense to call either Self::additional_mass or Self::additional_mass_properties.

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.

The total angular inertia of the rigid-body will be scaled automatically based on this additional mass. If this scaling effect isn’t desired, use Self::additional_mass_properties instead of this method.

Parameters

• mass- The mass that will be added to the created rigid-body.

pub fn locked_axes(self, locked_axes: LockedAxes) -> Self

Sets the axes along which this rigid-body cannot translate or rotate.

pub fn lock_translations(self) -> Self

Prevents this rigid-body from translating because of forces.

pub fn enabled_translations( self, allow_translations_x: bool, allow_translations_y: bool, allow_translations_z: bool ) -> Self

Only allow translations of this rigid-body around specific coordinate axes.

pub fn restrict_translations( self, allow_translations_x: bool, allow_translations_y: bool, allow_translations_z: bool ) -> Self

👎Deprecated: Use enabled_translations instead

Only allow translations of this rigid-body around specific coordinate axes.

pub fn lock_rotations(self) -> Self

Prevents this rigid-body from rotating because of forces.

pub fn enabled_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.

pub fn restrict_rotations( self, allow_rotations_x: bool, allow_rotations_y: bool, allow_rotations_z: bool ) -> Self

👎Deprecated: Use enabled_rotations instead

Locks or unlocks rotations of this rigid-body along each cartesian axes.

pub fn linear_damping(self, factor: Real) -> Self

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.

pub fn angular_damping(self, factor: Real) -> Self

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.

pub fn linvel(self, linvel: Vector<Real>) -> Self

Sets the initial linear velocity of the rigid-body to be created.

pub fn angvel(self, angvel: AngVector<Real>) -> Self

Sets the initial angular velocity of the rigid-body to be created.

pub fn can_sleep(self, can_sleep: bool) -> Self

Sets whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.

pub fn ccd_enabled(self, enabled: bool) -> Self

Sets whether or not continuous collision-detection is enabled for this rigid-body.

CCD prevents tunneling, but may still allow limited interpenetration of colliders.

pub fn sleeping(self, sleeping: bool) -> Self

Sets whether or not the rigid-body is to be created asleep.

pub fn enabled(self, enabled: bool) -> Self

Enable or disable the rigid-body after its creation.

pub fn build(&self) -> RigidBody

Build a new rigid-body with the parameters configured with this builder.

Trait Implementations

impl Clone for RigidBodyBuilder

fn clone(&self) -> RigidBodyBuilder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyBuilder

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

Formats the value using the given formatter.

impl Into<RigidBody> for RigidBodyBuilder

fn into(self) -> RigidBody

Converts this type into the (usually inferred) input type.

impl PartialEq for RigidBodyBuilder

fn eq(&self, other: &RigidBodyBuilder) -> 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 StructuralPartialEq for RigidBodyBuilder