Struct RigidBody3D 

pub struct RigidBody3D {
    pub id: u64,
    pub position: Vector3D,
    pub velocity: Vector3D,
    pub force_accumulator: Vector3D,
    pub angular_velocity: Vector3D,
    pub torque_accumulator: Vector3D,
    pub mass: f64,
    pub inverse_mass: f64,
    pub inverse_inertia: f64,
    pub friction: f64,
    pub body_type: BodyType,
    /* private fields */
}

A 3D rigid body participating in the physics simulation.

Fields

id: u64

The unique identifier of this body, typically matching a game object ID.

position: Vector3D

The world-space position of the body’s center.

velocity: Vector3D

The linear velocity in meters per second.

force_accumulator: Vector3D

The accumulated force to be applied during the next physics step.

angular_velocity: Vector3D

The angular velocity as a 3D vector (axis * speed).

torque_accumulator: Vector3D

The accumulated torque to be applied during the next physics step.

mass: f64

The mass of the body in kilograms. Static bodies have a mass of 0.

inverse_mass: f64

The precomputed inverse mass (1/mass). Static bodies have 0 inverse mass.

inverse_inertia: f64

The precomputed inverse moment of inertia (scalar, axis-aligned). Static bodies have 0 inverse inertia. Used to convert accumulated torque into angular velocity each step.

friction: f64

The friction coefficient for surface contact.

body_type: BodyType

How this body participates in the simulation.

Implementations

impl RigidBody3D

Implements body creation and force management for RigidBody3D.

pub fn new_dynamic(id: u64, position: Vector3D) -> RigidBody3D

Creates a new dynamic 3D rigid body with default mass and the given position.

Arguments

• u64 - The unique ID.
• Vector3D - The initial position.

Returns

• RigidBody3D - The new body.

pub fn new_static(id: u64, position: Vector3D) -> RigidBody3D

Creates a new static 3D rigid body at the given position with infinite mass.

Arguments

• u64 - The unique ID.
• Vector3D - The position.

Returns

• RigidBody3D - The new static body.

pub fn apply_force(&mut self, force: Vector3D)

Applies a force to the body’s force accumulator.

Arguments

• Vector3D - The force vector.

pub fn apply_torque(&mut self, torque: Vector3D)

Applies a torque to the body’s torque accumulator.

Arguments

• Vector3D - The torque vector.

pub fn apply_impulse(&mut self, impulse: Vector3D)

Applies an instantaneous impulse, directly changing velocity.

Arguments

• Vector3D - The impulse vector.

pub fn update_mass(&mut self, mass: f64)

Sets the mass of the body, updating the inverse mass. A mass of 0 makes the body static (infinite mass).

Arguments

• f64 - The new mass.

pub fn update_inertia(&mut self, inertia: f64)

Sets the moment of inertia of the body, updating the inverse inertia. An inertia of 0 makes the body non-rotatable (used for static bodies).

Arguments

• f64 - The new moment of inertia.

pub fn is_dynamic(&self) -> bool

Returns true if this body is affected by forces and collisions.

Returns

• bool - True if this body is dynamic.

pub fn update_collider(&mut self, collider: BodyCollider3D)

Attaches a 3D collider shape to this body.

Arguments

• BodyCollider3D - The collider to attach.

pub fn bounding_box(&self) -> Option<AABB3D>

Returns the world-space 3D bounding box of the attached collider, if any.

Returns

• Option<AABB3D> - The bounding box, or None if no collider is attached.

impl RigidBody3D

pub fn get_id(&self) -> u64

pub fn get_position(&self) -> Vector3D

pub fn set_position(&mut self, val: Vector3D) -> &mut Self

pub fn get_velocity(&self) -> Vector3D

pub fn set_velocity(&mut self, val: Vector3D) -> &mut Self

pub fn get_force_accumulator(&self) -> Vector3D

pub fn get_angular_velocity(&self) -> Vector3D

pub fn get_torque_accumulator(&self) -> Vector3D

pub fn get_mass(&self) -> f64

pub fn get_inverse_mass(&self) -> f64

pub fn get_inverse_inertia(&self) -> f64

pub fn set_friction(&mut self, val: f64) -> &mut Self

pub fn get_body_type(&self) -> BodyType

impl RigidBody3D

pub fn new( id: u64, position: Vector3D, mass: f64, inverse_mass: f64, restitution: f64, friction: f64, body_type: BodyType, ) -> Self

Trait Implementations

impl Clone for RigidBody3D

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBody3D

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

Formats the value using the given formatter.

impl PartialEq for RigidBody3D

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for RigidBody3D