Struct heron::rapier_plugin::rapier3d::prelude::RigidBody [−]
pub struct RigidBody {
pub user_data: u128,
// some fields omitted
}
Expand description
A rigid body.
To create a new rigid-body, use the RigidBodyBuilder
structure.
Fields
user_data: u128
User-defined data associated to this rigid-body.
Implementations
impl RigidBody
impl RigidBody
pub fn activation(&self) -> &RigidBodyActivation
pub fn activation(&self) -> &RigidBodyActivation
The activation status of this rigid-body.
pub fn activation_mut(&mut self) -> &mut RigidBodyActivation
pub fn activation_mut(&mut self) -> &mut RigidBodyActivation
Mutable reference to the activation status of this rigid-body.
pub fn linear_damping(&self) -> f32
pub fn linear_damping(&self) -> f32
The linear damping coefficient of this rigid-body.
pub fn set_linear_damping(&mut self, damping: f32)
pub fn set_linear_damping(&mut self, damping: f32)
Sets the linear damping coefficient of this rigid-body.
pub fn angular_damping(&self) -> f32
pub fn angular_damping(&self) -> f32
The angular damping coefficient of this rigid-body.
pub fn set_angular_damping(&mut self, damping: f32)
pub fn set_angular_damping(&mut self, damping: f32)
Sets the angular damping coefficient of this rigid-body.
pub fn body_type(&self) -> RigidBodyType
pub fn body_type(&self) -> RigidBodyType
The type of this rigid-body.
pub fn set_body_type(&mut self, status: RigidBodyType)
pub fn set_body_type(&mut self, status: RigidBodyType)
Sets the type of this rigid-body.
pub fn mass_properties(&self) -> &MassProperties
pub fn mass_properties(&self) -> &MassProperties
The mass properties of this rigid-body.
pub fn effective_dominance_group(&self) -> i16
pub fn effective_dominance_group(&self) -> i16
The dominance group of this rigid-body.
This method always returns i8::MAX + 1
for non-dynamic
rigid-bodies.
pub fn lock_rotations(&mut self, locked: bool, wake_up: bool)
pub fn lock_rotations(&mut self, locked: bool, wake_up: bool)
Locks or unlocks all the rotations of this rigid-body.
pub fn restrict_rotations(
&mut self,
allow_rotations_x: bool,
allow_rotations_y: bool,
allow_rotations_z: bool,
wake_up: bool
)
pub fn restrict_rotations(
&mut self,
allow_rotations_x: bool,
allow_rotations_y: bool,
allow_rotations_z: bool,
wake_up: bool
)
Locks or unlocks rotations of this rigid-body along each cartesian axes.
pub fn lock_translations(&mut self, locked: bool, wake_up: bool)
pub fn lock_translations(&mut self, locked: bool, wake_up: bool)
Locks or unlocks all the rotations of this rigid-body.
pub fn is_translation_locked(&self) -> bool
pub fn is_translation_locked(&self) -> bool
Are the translations of this rigid-body locked?
pub fn is_rotation_locked(&self) -> [bool; 3]
pub fn is_rotation_locked(&self) -> [bool; 3]
Returns true
for each rotational degrees of freedom locked on this rigid-body.
pub fn enable_ccd(&mut self, enabled: bool)
pub fn enable_ccd(&mut self, enabled: bool)
Enables of disable CCD (continuous collision-detection) for this rigid-body.
pub fn is_ccd_enabled(&self) -> bool
pub fn is_ccd_enabled(&self) -> bool
Is CCD (continous collision-detection) enabled for this rigid-body?
pub fn is_ccd_active(&self) -> bool
pub fn is_ccd_active(&self) -> bool
Is CCD active for this rigid-body?
The CCD is considered active if the rigid-body is moving at a velocity greater than an automatically-computed threshold.
This is not the same as self.is_ccd_enabled
which only
checks if CCD is allowed to run for this rigid-body or if
it is completely disabled (independently from its velocity).
pub fn set_mass_properties(&mut self, props: MassProperties, wake_up: bool)
pub fn set_mass_properties(&mut self, props: MassProperties, wake_up: bool)
Sets the rigid-body’s initial mass properties.
If wake_up
is true
then the rigid-body will be woken up if it was
put to sleep because it did not move for a while.
pub fn colliders(&self) -> &[ColliderHandle]
pub fn colliders(&self) -> &[ColliderHandle]
The handles of colliders attached to this rigid body.
pub fn is_dynamic(&self) -> bool
pub fn is_dynamic(&self) -> bool
Is this rigid body dynamic?
A dynamic body can move freely and is affected by forces.
pub fn is_kinematic(&self) -> bool
pub fn is_kinematic(&self) -> bool
Is this rigid body kinematic?
A kinematic body can move freely but is not affected by forces.
Is this rigid body static?
A static body cannot move and is not affected by forces.
The mass of this rigid body.
Returns zero if this rigid body has an infinite mass.
pub fn next_position(&self) -> &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
pub fn next_position(&self) -> &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The predicted position of this rigid-body.
If this rigid-body is kinematic this value is set by the set_next_kinematic_position
method and is used for estimating the kinematic body velocity at the next timestep.
For non-kinematic bodies, this value is currently unspecified.
pub fn gravity_scale(&self) -> f32
pub fn gravity_scale(&self) -> f32
The scale factor applied to the gravity affecting this rigid-body.
pub fn set_gravity_scale(&mut self, scale: f32, wake_up: bool)
pub fn set_gravity_scale(&mut self, scale: f32, wake_up: bool)
Sets the gravity scale facter for this rigid-body.
pub fn dominance_group(&self) -> i8
pub fn dominance_group(&self) -> i8
The dominance group of this rigid-body.
pub fn set_dominance_group(&mut self, dominance: i8)
pub fn set_dominance_group(&mut self, dominance: i8)
The dominance group of this rigid-body.
pub fn add_collider(
&mut self,
co_handle: ColliderHandle,
co_parent: &ColliderParent,
co_pos: &mut ColliderPosition,
co_shape: &SharedShape,
co_mprops: &ColliderMassProps
)
pub fn add_collider(
&mut self,
co_handle: ColliderHandle,
co_parent: &ColliderParent,
co_pos: &mut ColliderPosition,
co_shape: &SharedShape,
co_mprops: &ColliderMassProps
)
Adds a collider to this rigid-body.
pub fn sleep(&mut self)
pub fn sleep(&mut self)
Put this rigid body to sleep.
A sleeping body no longer moves and is no longer simulated by the physics engine unless
it is waken up. It can be woken manually with self.wake_up
or automatically due to
external forces like contacts.
Wakes up this rigid body if it is sleeping.
If strong
is true
then it is assured that the rigid-body will
remain awake during multiple subsequent timesteps.
pub fn is_sleeping(&self) -> bool
pub fn is_sleeping(&self) -> bool
Is this rigid body sleeping?
The linear velocity of this rigid-body.
The angular velocity of this rigid-body.
pub fn set_linvel(
&mut self,
linvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn set_linvel(
&mut self,
linvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
The linear velocity of this rigid-body.
If wake_up
is true
then the rigid-body will be woken up if it was
put to sleep because it did not move for a while.
pub fn set_angvel(
&mut self,
angvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn set_angvel(
&mut self,
angvel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
The angular velocity of this rigid-body.
If wake_up
is true
then the rigid-body will be woken up if it was
put to sleep because it did not move for a while.
The world-space position of this rigid-body.
pub fn translation(
&self
) -> &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
pub fn translation(
&self
) -> &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
The translational part of this rigid-body’s position.
pub fn set_translation(
&mut self,
translation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn set_translation(
&mut self,
translation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
Sets the translational part of this rigid-body’s position.
pub fn rotation(&self) -> &Unit<Quaternion<f32>>
pub fn rotation(&self) -> &Unit<Quaternion<f32>>
The translational part of this rigid-body’s position.
pub fn set_rotation(
&mut self,
rotation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn set_rotation(
&mut self,
rotation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
Sets the rotational part of this rigid-body’s position.
pub fn set_position(
&mut self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
wake_up: bool
)
pub fn set_position(
&mut self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
wake_up: bool
)
Sets the position and next_kinematic_position
of this rigid body.
This will teleport the rigid-body to the specified position/orientation, completely ignoring any physics rule. If this body is kinematic, this will also set the next kinematic position to the same value, effectively resetting to zero the next interpolated velocity of the kinematic body.
If wake_up
is true
then the rigid-body will be woken up if it was
put to sleep because it did not move for a while.
pub fn set_next_kinematic_rotation(
&mut self,
rotation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
)
pub fn set_next_kinematic_rotation(
&mut self,
rotation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
)
If this rigid body is kinematic, sets its future translation after the next timestep integration.
pub fn set_next_kinematic_translation(
&mut self,
translation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
)
pub fn set_next_kinematic_translation(
&mut self,
translation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
)
If this rigid body is kinematic, sets its future orientation after the next timestep integration.
pub fn set_next_kinematic_position(
&mut self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)
pub fn set_next_kinematic_position(
&mut self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)
If this rigid body is kinematic, sets its future position after the next timestep integration.
pub fn predict_position_using_velocity_and_forces(
&self,
dt: f32
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
pub fn predict_position_using_velocity_and_forces(
&self,
dt: f32
) -> Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
Predicts the next position of this rigid-body, by integrating its velocity and forces
by a time of dt
.
impl RigidBody
impl RigidBody
pub fn apply_force(
&mut self,
force: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn apply_force(
&mut self,
force: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
Applies a force at the center-of-mass of this rigid-body. The force will be applied in the next simulation step. This does nothing on non-dynamic bodies.
pub fn apply_torque(
&mut self,
torque: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn apply_torque(
&mut self,
torque: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
Applies a torque at the center-of-mass of this rigid-body. The torque will be applied in the next simulation step. This does nothing on non-dynamic bodies.
Applies a force at the given world-space point of this rigid-body. The force will be applied in the next simulation step. This does nothing on non-dynamic bodies.
impl RigidBody
impl RigidBody
pub fn apply_impulse(
&mut self,
impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn apply_impulse(
&mut self,
impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
Applies an impulse at the center-of-mass of this rigid-body. The impulse is applied right away, changing the linear velocity. This does nothing on non-dynamic bodies.
pub fn apply_torque_impulse(
&mut self,
torque_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
pub fn apply_torque_impulse(
&mut self,
torque_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
wake_up: bool
)
Applies an angular impulse at the center-of-mass of this rigid-body. The impulse is applied right away, changing the angular velocity. This does nothing on non-dynamic bodies.
Applies an impulse at the given world-space point of this rigid-body. The impulse is applied right away, changing the linear and/or angular velocities. This does nothing on non-dynamic bodies.
impl RigidBody
impl RigidBody
pub fn velocity_at_point(
&self,
point: &OPoint<f32, Const<3_usize>>
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
pub fn velocity_at_point(
&self,
point: &OPoint<f32, Const<3_usize>>
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
The velocity of the given world-space point on this rigid-body.
pub fn kinetic_energy(&self) -> f32
pub fn kinetic_energy(&self) -> f32
The kinetic energy of this body.
pub fn gravitational_potential_energy(
&self,
dt: f32,
gravity: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> f32
pub fn gravitational_potential_energy(
&self,
dt: f32,
gravity: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> f32
The potential energy of this body in a gravity field.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for RigidBody
impl UnwindSafe for RigidBody
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