Function rhusics_core::next_frame_integration [−][src]
pub fn next_frame_integration<'a, B, D, P, A, I, R>(data: D, dt: P::Scalar) where
D: Iterator<Item = (&'a mut NextFrame<Velocity<P::Diff, A>>, &'a NextFrame<B>, &'a mut ForceAccumulator<P::Diff, A>, &'a Mass<P::Scalar, I>)>,
B: Pose<P, R> + 'a,
P: EuclideanSpace + 'a,
P::Scalar: BaseFloat,
P::Diff: VectorSpace + InnerSpace + 'a,
I: Inertia<Orientation = R> + Mul<A, Output = A> + 'a,
A: Mul<P::Scalar, Output = A> + Clone + Copy + Zero + 'a,
R: Rotation<P> + ApplyAngular<P::Scalar, A> + 'a,
Do force integration for next frame.
Parameters:
data: Iterator over tuple with:- Velocity for the next frame, will be updated
- Pose for the next frame, used to compute the inertia tensor for the body in the next frame
- Force accumulator, will be consumed and added to the velocity
- Mass, used by integration
dt: Time step
Type parameters:
D: Iterator typeP: Point, usuallyPoint2orPoint3A: Angular velocity, usuallyScalarorVector3I: Inertia, usuallyScalarorMatrix3R: Rotational quantity, usuallyBasis2orQuaternion