Struct heron::rapier_plugin::rapier3d::dynamics::RigidBodyForces [−]
pub struct RigidBodyForces {
pub force: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
pub torque: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
pub gravity_scale: f32,
}
Expand description
The user-defined external forces applied to this rigid-body.
Fields
force: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
Accumulation of external forces (only for dynamic bodies).
torque: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
Accumulation of external torques (only for dynamic bodies).
gravity_scale: f32
Gravity is multiplied by this scaling factor before it’s applied to this rigid-body.
Implementations
impl RigidBodyForces
impl RigidBodyForces
pub fn integrate(
&self,
dt: f32,
init_vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> RigidBodyVelocity
pub fn integrate(
&self,
dt: f32,
init_vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> RigidBodyVelocity
Integrate these forces to compute new velocities.
pub fn add_gravity_acceleration(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
mass: f32
)
pub fn add_gravity_acceleration(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
mass: f32
)
Adds to self
the gravitational force that would result in a gravitational acceleration
equal to gravity
.
pub fn apply_force_at_point(
&mut self,
rb_mprops: &RigidBodyMassProps,
force: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
point: OPoint<f32, Const<3_usize>>
)
pub fn apply_force_at_point(
&mut self,
rb_mprops: &RigidBodyMassProps,
force: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
point: OPoint<f32, Const<3_usize>>
)
Applies a force at the given world-space point of the rigid-body with the given mass properties.
Trait Implementations
impl Clone for RigidBodyForces
impl Clone for RigidBodyForces
pub fn clone(&self) -> RigidBodyForces
pub fn clone(&self) -> RigidBodyForces
Returns a copy of the value. Read more
Performs copy-assignment from source
. Read more
impl ComponentSet<RigidBodyForces> for RigidBodySet
impl ComponentSet<RigidBodyForces> for RigidBodySet
impl ComponentSetMut<RigidBodyForces> for RigidBodySet
impl ComponentSetMut<RigidBodyForces> for RigidBodySet
pub fn set_internal(&mut self, handle: Index, val: RigidBodyForces)
pub fn set_internal(&mut self, handle: Index, val: RigidBodyForces)
Set the value of this element.
pub fn map_mut_internal<Result>(
&mut self,
handle: Index,
f: impl FnOnce(&mut RigidBodyForces) -> Result
) -> Option<Result>
pub fn map_mut_internal<Result>(
&mut self,
handle: Index,
f: impl FnOnce(&mut RigidBodyForces) -> Result
) -> Option<Result>
Applies the given closure to the element associated to the given handle
. Read more
impl ComponentSetOption<RigidBodyForces> for RigidBodySet
impl ComponentSetOption<RigidBodyForces> for RigidBodySet
pub fn get(&self, handle: Index) -> Option<&RigidBodyForces>
pub fn get(&self, handle: Index) -> Option<&RigidBodyForces>
Get the element associated to the given handle
, if there is one.
impl Debug for RigidBodyForces
impl Debug for RigidBodyForces
impl Default for RigidBodyForces
impl Default for RigidBodyForces
pub fn default() -> RigidBodyForces
pub fn default() -> RigidBodyForces
Returns the “default value” for a type. Read more
impl PartialEq<RigidBodyForces> for RigidBodyForces
impl PartialEq<RigidBodyForces> for RigidBodyForces
pub fn eq(&self, other: &RigidBodyForces) -> bool
pub fn eq(&self, other: &RigidBodyForces) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
pub fn ne(&self, other: &RigidBodyForces) -> bool
pub fn ne(&self, other: &RigidBodyForces) -> bool
This method tests for !=
.
impl Copy for RigidBodyForces
impl StructuralPartialEq for RigidBodyForces
Auto Trait Implementations
impl RefUnwindSafe for RigidBodyForces
impl Send for RigidBodyForces
impl Sync for RigidBodyForces
impl Unpin for RigidBodyForces
impl UnwindSafe for RigidBodyForces
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default,
pub fn from_world(_world: &mut World) -> T
pub fn from_world(_world: &mut World) -> T
Creates Self
using data from the given [World]
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more