Struct rhusics::physics::Mass

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

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.

Methods

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

fn new(mass: S) -> Self

Create new mass object

fn infinite() -> Self

Create new infinite mass object

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

Create new mass object with given inertia

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

Compute mass from the given volume shape and material

fn mass(&self) -> S

Get mass

fn inverse_mass(&self) -> S

Get inverse mass

fn local_inertia(&self) -> I

Get inertia in local space

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

Get inertia tensor in world space

Parameters:

• orientation: The current orientation of the body

fn local_inverse_inertia(&self) -> I

Get inverse inertia in local space

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

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.