Struct SpatialInertia 

pub struct SpatialInertia {
    pub rot: Mat3,
    pub mass: f32,
    pub com: Vec3,
}

Spatial Inertia Tensor (6x6 Matris Karşılığı) Bir RigidBody modelinin eylemsizlik profilidir.

Fields

rot: Mat3

mass: f32

com: Vec3

Implementations

impl SpatialInertia

pub fn new(mass: f32, rot_inertia: Mat3, com_offset: Vec3) -> Self

pub fn from_mass_inertia(mass: f32, inertia: Mat3) -> Self

pub fn mul_vec(self, v: SpatialVector) -> SpatialVector

I * v (Spatial Inertia tensor times Spatial Velocity = Spatial Momentum)

impl SpatialInertia

pub fn to_matrix(self) -> SpatialMatrix

Converts the Rigid Body Inertia to a full 6x6 Spatial Matrix.

Trait Implementations

impl Add for SpatialInertia

type Output = SpatialInertia

The resulting type after applying the + operator.

fn add(self, other: Self) -> Self

Performs the + operation.

impl Clone for SpatialInertia

fn clone(&self) -> SpatialInertia

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialInertia

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

Formats the value using the given formatter.

impl Default for SpatialInertia

fn default() -> SpatialInertia

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for SpatialInertia

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for SpatialInertia

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for SpatialInertia