Struct rhusics_core::Mass

pub struct Mass<S, I> { /* private fields */ }

Mass

Mass properties for a body. Inertia is the moment of inertia in the base pose. For retrieving the inertia tensor for the body in its current orientation, see world_inertia and world_inverse_inertia.

Type parameters:

• I: Inertia type, usually Scalar or Matrix3, see Inertia for more information.

Implementations

impl<S, I> Mass<S, I>where
    S: BaseFloat,
    I: Inertia,

pub fn new(mass: S) -> Self

Create new mass object

pub fn infinite() -> Self

Create new infinite mass object

pub fn new_with_inertia(mass: S, inertia: I) -> Self

Create new mass object with given inertia

pub fn from_volume_and_material<V>(volume: &V, material: &Material) -> Selfwhere
    V: Volume<S, I>,

Compute mass from the given volume shape and material

pub fn mass(&self) -> S

Get mass

pub fn inverse_mass(&self) -> S

Get inverse mass

pub fn local_inertia(&self) -> I

Get inertia in local space

pub fn world_inertia(&self, orientation: &I::Orientation) -> I

Get inertia tensor in world space

Parameters:

• orientation: The current orientation of the body

pub fn local_inverse_inertia(&self) -> I

Get inverse inertia in local space

pub fn world_inverse_inertia(&self, orientation: &I::Orientation) -> I

Get inverse inertia tensor in world space

Parameters:

• orientation: The current orientation of the body

Trait Implementations

impl<S: Clone, I: Clone> Clone for Mass<S, I>

fn clone(&self) -> Mass<S, I>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<S: Debug, I: Debug> Debug for Mass<S, I>

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

Formats the value using the given formatter.