Struct heron::rapier_plugin::rapier3d::dynamics::RigidBodyBuilder

pub struct RigidBodyBuilder {
    pub position: Isometry<f32, Unit<Quaternion<f32>>, 3>,
    pub linvel: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    pub angvel: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    pub gravity_scale: f32,
    pub linear_damping: f32,
    pub angular_damping: f32,
    pub additional_mass_properties: MassProperties,
    pub can_sleep: bool,
    pub sleeping: bool,
    pub ccd_enabled: bool,
    pub dominance_group: i8,
    pub user_data: u128,
    /* private fields */
}

A builder for rigid-bodies.

Fields

position: Isometry<f32, Unit<Quaternion<f32>>, 3>

The initial position of the rigid-body to be built.

linvel: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

The linear velocity of the rigid-body to be built.

angvel: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

The angular velocity of the rigid-body to be built.

gravity_scale: f32

The scale factor applied to the gravity affecting the rigid-body to be built, 1.0 by default.

linear_damping: f32

Damping factor for gradually slowing down the translational motion of the rigid-body, 0.0 by default.

angular_damping: f32

Damping factor for gradually slowing down the angular motion of the rigid-body, 0.0 by default.

additional_mass_properties: MassProperties

The additional mass properties of the rigid-body being built. See RigidBodyBuilder::additional_mass_properties for more information.

can_sleep: bool

Whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.

sleeping: bool

Whether or not the rigid-body is to be created asleep.

ccd_enabled: bool

Whether continuous collision-detection is enabled for the rigid-body to be built.

CCD prevents tunneling, but may still allow limited interpenetration of colliders.

dominance_group: i8

The dominance group of the rigid-body to be built.

user_data: u128

An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.

Implementations

impl RigidBodyBuilder

pub fn new(body_type: RigidBodyType) -> RigidBodyBuilder

Initialize a new builder for a rigid body which is either fixed, dynamic, or kinematic.

pub fn new_static() -> RigidBodyBuilder

👎Deprecated: use RigidBodyBuilder::fixed() instead

Initializes the builder of a new fixed rigid body.

pub fn new_kinematic_velocity_based() -> RigidBodyBuilder

👎Deprecated: use RigidBodyBuilder::kinematic_velocity_based() instead

Initializes the builder of a new velocity-based kinematic rigid body.

pub fn new_kinematic_position_based() -> RigidBodyBuilder

👎Deprecated: use RigidBodyBuilder::kinematic_position_based() instead

Initializes the builder of a new position-based kinematic rigid body.

pub fn fixed() -> RigidBodyBuilder

Initializes the builder of a new fixed rigid body.

pub fn kinematic_velocity_based() -> RigidBodyBuilder

Initializes the builder of a new velocity-based kinematic rigid body.

pub fn kinematic_position_based() -> RigidBodyBuilder

Initializes the builder of a new position-based kinematic rigid body.

pub fn dynamic() -> RigidBodyBuilder

Initializes the builder of a new dynamic rigid body.

pub fn gravity_scale(self, scale_factor: f32) -> RigidBodyBuilder

Sets the scale applied to the gravity force affecting the rigid-body to be created.

pub fn dominance_group(self, group: i8) -> RigidBodyBuilder

Sets the dominance group of this rigid-body.

pub fn translation(
    self,
    translation: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> RigidBodyBuilder

Sets the initial translation of the rigid-body to be created.

pub fn rotation(
    self,
    angle: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> RigidBodyBuilder

Sets the initial orientation of the rigid-body to be created.

pub fn position(
    self,
    pos: Isometry<f32, Unit<Quaternion<f32>>, 3>
) -> RigidBodyBuilder

Sets the initial position (translation and orientation) of the rigid-body to be created.

pub fn user_data(self, data: u128) -> RigidBodyBuilder

An arbitrary user-defined 128-bit integer associated to the rigid-bodies built by this builder.

pub fn additional_mass_properties(
    self,
    props: MassProperties
) -> RigidBodyBuilder

Sets the additional mass properties of the rigid-body being built.

Note that “additional” means that the final mass properties of the rigid-bodies depends on the initial mass-properties of the rigid-body (set by this method) to which is added the contributions of all the colliders with non-zero density attached to this rigid-body.

Therefore, if you want your provided mass properties to be the final mass properties of your rigid-body, don’t attach colliders to it, or only attach colliders with densities equal to zero.

pub fn locked_axes(self, locked_axes: LockedAxes) -> RigidBodyBuilder

Sets the axes along which this rigid-body cannot translate or rotate.

pub fn lock_translations(self) -> RigidBodyBuilder

Prevents this rigid-body from translating because of forces.

pub fn restrict_translations(
    self,
    allow_translations_x: bool,
    allow_translations_y: bool,
    allow_translations_z: bool
) -> RigidBodyBuilder

Only allow translations of this rigid-body around specific coordinate axes.

pub fn lock_rotations(self) -> RigidBodyBuilder

Prevents this rigid-body from rotating because of forces.

pub fn restrict_rotations(
    self,
    allow_rotations_x: bool,
    allow_rotations_y: bool,
    allow_rotations_z: bool
) -> RigidBodyBuilder

Only allow rotations of this rigid-body around specific coordinate axes.

pub fn additional_mass(self, mass: f32) -> RigidBodyBuilder

Sets the additional mass of the rigid-body being built.

This is only the “additional” mass because the total mass of the rigid-body is equal to the sum of this additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body.

pub fn mass(self, mass: f32) -> RigidBodyBuilder

👎Deprecated: renamed to additional_mass.

Sets the additional mass of the rigid-body being built.

This is only the “additional” mass because the total mass of the rigid-body is equal to the sum of this additional mass and the mass computed from the colliders (with non-zero densities) attached to this rigid-body.

pub fn additional_principal_angular_inertia(
    self,
    inertia: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> RigidBodyBuilder

Sets the additional principal angular inertia of this rigid-body.

This is only the “additional” angular inertia because the total angular inertia of the rigid-body is equal to the sum of this additional value and the angular inertia computed from the colliders (with non-zero densities) attached to this rigid-body.

pub fn principal_angular_inertia(
    self,
    inertia: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> RigidBodyBuilder

👎Deprecated: renamed to additional_principal_angular_inertia.

Sets the principal angular inertia of this rigid-body.

pub fn principal_inertia(
    self,
    inertia: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> RigidBodyBuilder

👎Deprecated: renamed to additional_principal_angular_inertia.

Use self.principal_angular_inertia instead.

pub fn linear_damping(self, factor: f32) -> RigidBodyBuilder

Sets the damping factor for the linear part of the rigid-body motion.

The higher the linear damping factor is, the more quickly the rigid-body will slow-down its translational movement.

pub fn angular_damping(self, factor: f32) -> RigidBodyBuilder

Sets the damping factor for the angular part of the rigid-body motion.

The higher the angular damping factor is, the more quickly the rigid-body will slow-down its rotational movement.

pub fn linvel(
    self,
    linvel: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> RigidBodyBuilder

Sets the initial linear velocity of the rigid-body to be created.

pub fn angvel(
    self,
    angvel: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
) -> RigidBodyBuilder

Sets the initial angular velocity of the rigid-body to be created.

pub fn can_sleep(self, can_sleep: bool) -> RigidBodyBuilder

Sets whether or not the rigid-body to be created can sleep if it reaches a dynamic equilibrium.

pub fn ccd_enabled(self, enabled: bool) -> RigidBodyBuilder

Sets whether or not continuous collision-detection is enabled for this rigid-body.

CCD prevents tunneling, but may still allow limited interpenetration of colliders.

pub fn sleeping(self, sleeping: bool) -> RigidBodyBuilder

Sets whether or not the rigid-body is to be created asleep.

pub fn build(&self) -> RigidBody

Build a new rigid-body with the parameters configured with this builder.

Trait Implementations

impl Clone for RigidBodyBuilder

fn clone(&self) -> RigidBodyBuilder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyBuilder

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

Formats the value using the given formatter.

impl Into<RigidBody> for RigidBodyBuilder

fn into(self) -> RigidBody

Converts this type into the (usually inferred) input type.

impl PartialEq<RigidBodyBuilder> for RigidBodyBuilder

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for RigidBodyBuilder