Struct heron::rapier_plugin::rapier3d::prelude::Multibody
pub struct Multibody { /* private fields */ }
Expand description
An articulated body simulated using the reduced-coordinates approach.
Implementations
impl Multibody
impl Multibody
pub fn inv_augmented_mass(&self) -> &LU<f32, Dynamic, Dynamic>
pub fn inv_augmented_mass(&self) -> &LU<f32, Dynamic, Dynamic>
The inverse augmented mass matrix of this multibody.
pub fn root(&self) -> &MultibodyLink
pub fn root(&self) -> &MultibodyLink
The first link of this multibody.
pub fn root_mut(&mut self) -> &mut MultibodyLink
pub fn root_mut(&mut self) -> &mut MultibodyLink
Mutable reference to the first link of this multibody.
pub fn link(&self, id: usize) -> Option<&MultibodyLink>
pub fn link(&self, id: usize) -> Option<&MultibodyLink>
Reference i
-th multibody link of this multibody.
Return None
if there is less than i + 1
multibody links.
pub fn link_mut(&mut self, id: usize) -> Option<&mut MultibodyLink>
pub fn link_mut(&mut self, id: usize) -> Option<&mut MultibodyLink>
Mutable reference to the multibody link with the given id.
Return None
if the given id does not identifies a multibody link part of self
.
pub fn links(&self) -> impl Iterator<Item = &MultibodyLink>
pub fn links(&self) -> impl Iterator<Item = &MultibodyLink>
Iterator through all the links of this multibody.
All link are guaranteed to be yielded before its descendant.
pub fn links_mut(&mut self) -> impl Iterator<Item = &mut MultibodyLink>
pub fn links_mut(&mut self) -> impl Iterator<Item = &mut MultibodyLink>
Mutable iterator through all the links of this multibody.
All link are guaranteed to be yielded before its descendant.
pub fn damping(
&self
) -> &Matrix<f32, Dynamic, Const<1>, VecStorage<f32, Dynamic, Const<1>>>
pub fn damping(
&self
) -> &Matrix<f32, Dynamic, Const<1>, VecStorage<f32, Dynamic, Const<1>>>
The vector of damping applied to this multibody.
pub fn damping_mut(
&mut self
) -> &mut Matrix<f32, Dynamic, Const<1>, VecStorage<f32, Dynamic, Const<1>>>
pub fn damping_mut(
&mut self
) -> &mut Matrix<f32, Dynamic, Const<1>, VecStorage<f32, Dynamic, Const<1>>>
Mutable vector of damping applied to this multibody.
pub fn generalized_acceleration(
&self
) -> Matrix<f32, Dynamic, Const<1>, SliceStorage<'_, f32, Dynamic, Const<1>, Const<1>, Dynamic>>
pub fn generalized_acceleration(
&self
) -> Matrix<f32, Dynamic, Const<1>, SliceStorage<'_, f32, Dynamic, Const<1>, Const<1>, Dynamic>>
The generalized accelerations of this multibodies.
pub fn generalized_velocity(
&self
) -> Matrix<f32, Dynamic, Const<1>, SliceStorage<'_, f32, Dynamic, Const<1>, Const<1>, Dynamic>>
pub fn generalized_velocity(
&self
) -> Matrix<f32, Dynamic, Const<1>, SliceStorage<'_, f32, Dynamic, Const<1>, Const<1>, Dynamic>>
The generalized velocities of this multibodies.
pub fn generalized_velocity_mut(
&mut self
) -> Matrix<f32, Dynamic, Const<1>, SliceStorageMut<'_, f32, Dynamic, Const<1>, Const<1>, Dynamic>>
pub fn generalized_velocity_mut(
&mut self
) -> Matrix<f32, Dynamic, Const<1>, SliceStorageMut<'_, f32, Dynamic, Const<1>, Const<1>, Dynamic>>
The mutable generalized velocities of this multibodies.
pub fn apply_displacements(&mut self, disp: &[f32])
pub fn apply_displacements(&mut self, disp: &[f32])
Apply displacements, in generalized coordinates, to this multibody.
pub fn forward_kinematics(
&mut self,
bodies: &mut RigidBodySet,
update_mass_props: bool
)
pub fn forward_kinematics(
&mut self,
bodies: &mut RigidBodySet,
update_mass_props: bool
)
Apply forward-kinematics to this multibody and its related rigid-bodies.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for Multibody
impl Send for Multibody
impl Sync for Multibody
impl Unpin for Multibody
impl UnwindSafe for Multibody
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
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
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>
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>
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)
&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)
&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
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>
self
from the equivalent element of its
superset. Read morefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
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
self.to_subset
but without any property checks. Always succeeds.fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
self
to the equivalent element of its superset.