Struct heron::rapier_plugin::rapier3d::parry::query::NonlinearRigidMotion [−][src]
pub struct NonlinearRigidMotion {
pub start: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
pub local_center: OPoint<f32, Const<3_usize>>,
pub linvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
pub angvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
}
Expand description
A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.
Fields
start: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The starting isometry at t = 0
.
local_center: OPoint<f32, Const<3_usize>>
The local-space point at which the rotational part of this motion is applied.
linvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
The translational velocity of this motion.
angvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
The angular velocity of this motion.
Implementations
pub fn new(
start: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
local_center: OPoint<f32, Const<3_usize>>,
linvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
angvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> NonlinearRigidMotion
pub fn new(
start: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
local_center: OPoint<f32, Const<3_usize>>,
linvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
angvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> NonlinearRigidMotion
Initialize a motion from a starting isometry and linear and angular velocities.
Create a NonlinearRigidMotion
that always returns the identity matrix.
pub fn constant_position(
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> NonlinearRigidMotion
pub fn constant_position(
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> NonlinearRigidMotion
Create a NonlinearRigidMotion
that always return pos
.
Freezes this motion at the time t
.
After calling this, any further calls to self.position_at_time
will always return self.position_at_time(t)
(where t
is the value given
to this method). This sets the linear velocity and angular velocity
of self
to zero.
pub fn append_translation(
&self,
tra: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> NonlinearRigidMotion
pub fn append_translation(
&self,
tra: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> NonlinearRigidMotion
Appends a constant translation to this rigid-motion.
pub fn prepend_translation(
&self,
tra: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> NonlinearRigidMotion
pub fn prepend_translation(
&self,
tra: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> NonlinearRigidMotion
Prepends a constant translation to this rigid-motion.
pub fn append(
&self,
iso: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> NonlinearRigidMotion
pub fn append(
&self,
iso: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> NonlinearRigidMotion
Appends a constant isometry to this rigid-motion.
pub fn prepend(
&self,
iso: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> NonlinearRigidMotion
pub fn prepend(
&self,
iso: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> NonlinearRigidMotion
Prepends a constant translation to this rigid-motion.
Computes the position at time t
of a rigid-body following the motion described by self
.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for NonlinearRigidMotion
impl Send for NonlinearRigidMotion
impl Sync for NonlinearRigidMotion
impl Unpin for NonlinearRigidMotion
impl UnwindSafe for NonlinearRigidMotion
Blanket Implementations
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pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
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pub fn to_subset_unchecked(&self) -> SS
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Use with care! Same as self.to_subset
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pub fn from_subset(element: &SS) -> SP
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The inclusion map: converts self
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Attaches the provided Subscriber
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