Struct heron::rapier_plugin::rapier3d::dynamics::RigidBodyForces
pub struct RigidBodyForces {
pub force: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
pub torque: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
pub gravity_scale: f32,
pub user_force: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
pub user_torque: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
}
Expand description
The user-defined external forces applied to this rigid-body.
Fields
force: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
Accumulation of external forces (only for dynamic bodies).
torque: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
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.
user_force: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
Forces applied by the user.
user_torque: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
Torque applied by the user.
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 compute_effective_force_and_torque(
&mut self,
gravity: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
mass: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
)
pub fn compute_effective_force_and_torque(
&mut self,
gravity: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
mass: &Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>
)
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<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
point: OPoint<f32, Const<3>>
)
pub fn apply_force_at_point(
&mut self,
rb_mprops: &RigidBodyMassProps,
force: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
point: OPoint<f32, Const<3>>
)
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
fn clone(&self) -> RigidBodyForces
fn clone(&self) -> RigidBodyForces
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source
. Read moreimpl Debug for RigidBodyForces
impl Debug for RigidBodyForces
impl Default for RigidBodyForces
impl Default for RigidBodyForces
fn default() -> RigidBodyForces
fn default() -> RigidBodyForces
Returns the “default value” for a type. Read more
impl PartialEq<RigidBodyForces> for RigidBodyForces
impl PartialEq<RigidBodyForces> for RigidBodyForces
fn eq(&self, other: &RigidBodyForces) -> bool
fn eq(&self, other: &RigidBodyForces) -> bool
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
impl<T, U> AsBindGroupShaderType<U> for Twhere
U: ShaderType,
&'a T: for<'a> Into<U>,
impl<T, U> AsBindGroupShaderType<U> for Twhere
U: ShaderType,
&'a T: for<'a> Into<U>,
fn as_bind_group_shader_type(
&self,
_images: &HashMap<Handle<Image>, <Image as RenderAsset>::PreparedAsset, RandomState, Global>
) -> U
fn as_bind_group_shader_type(
&self,
_images: &HashMap<Handle<Image>, <Image as RenderAsset>::PreparedAsset, RandomState, Global>
) -> U
Return the
T
[ShaderType
] for self
. When used in [AsBindGroup
]
derives, it is safe to assume that all images in self
exist. Read moresourceimpl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere
T: Any,
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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 morefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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 morefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read morefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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 moreimpl<T> FromWorld for Twhere
T: Default,
impl<T> FromWorld for Twhere
T: Default,
fn from_world(_world: &mut World) -> T
fn from_world(_world: &mut World) -> T
Creates
Self
using data from the given [World]sourceimpl<T> Instrument for T
impl<T> Instrument for T
sourcefn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
sourcefn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self
from the equivalent element of its
superset. Read morefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self
is actually part of its subset T
(and can be converted to it).fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset
but without any property checks. Always succeeds.fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
to the equivalent element of its superset.