Struct let_engine::objects::physics::RigidBody

pub struct RigidBody(/* private fields */);

Implementations

impl RigidBody

pub fn activation(&self) -> &RigidBodyActivation

The activation status of this rigid-body.

pub fn activation_mut(&mut self) -> &mut RigidBodyActivation

Mutable reference to the activation status of this rigid-body.

pub fn is_enabled(&self) -> bool

Is this rigid-body enabled?

pub fn set_enabled(&mut self, enabled: bool)

Sets whether this rigid-body is enabled or not.

pub fn linear_damping(&self) -> Real

The linear damping coefficient of this rigid-body.

pub fn set_linear_damping(&mut self, damping: Real)

Sets the linear damping coefficient of this rigid-body.

pub fn angular_damping(&self) -> Real

The angular damping coefficient of this rigid-body.

pub fn set_angular_damping(&mut self, damping: Real)

Sets the angular damping coefficient of this rigid-body.

pub fn body_type(&self) -> RigidBodyType

The type of this rigid-body.

pub fn set_body_type(&mut self, status: RigidBodyType, wake_up: bool)

Sets the type of this rigid-body.

pub fn center_of_mass(&self) -> Vec2

The world-space center-of-mass of this rigid-body.

pub fn mass_properties(&self) -> &RigidBodyMassProps

The mass-properties of this rigid-body.

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 locked_axes(&self) -> LockedAxes

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

pub fn set_locked_axes(&mut self, locked_axes: LockedAxes, wake_up: bool)

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

pub fn lock_rotations(&mut self, locked: bool, wake_up: bool)

Locks or unlocks all the rotations of this rigid-body.

pub fn lock_translations(&mut self, locked: bool, wake_up: bool)

Locks or unlocks all the rotations of this rigid-body.

pub fn set_enabled_translations( &mut self, allow_translation_x: bool, allow_translation_y: bool, wake_up: bool )

Locks or unlocks translation of this rigid-body along each cartesian axes.

pub fn is_translation_locked(&self) -> bool

Are the translations of this rigid-body locked?

pub fn is_rotation_locked(&self) -> bool

Is the rotation of this rigid-body locked?

pub fn enable_ccd(&mut self, enabled: bool)

Enables of disable CCD (continuous collision-detection) for this rigid-body.

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

pub fn is_ccd_enabled(&self) -> bool

Is CCD (continous collision-detection) enabled for this rigid-body?

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 enabled to run for this rigid-body or if it is completely disabled (independently from its velocity).

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

Is this rigid body kinematic?

A kinematic body can move freely but is not affected by forces.

pub fn is_fixed(&self) -> bool

Is this rigid body fixed?

A fixed body cannot move and is not affected by forces.

pub fn mass(&self) -> Real

The mass of this rigid body.

Returns zero if this rigid body has an infinite mass.

pub fn next_position(&self) -> (Vec2, f32)

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) -> Real

The scale factor applied to the gravity affecting this rigid-body.

pub fn set_gravity_scale(&mut self, scale: Real, wake_up: bool)

Sets the gravity scale facter for this rigid-body.

pub fn dominance_group(&self) -> i8

The dominance group of this rigid-body.

pub fn set_dominance_group(&mut self, dominance: i8)

The dominance group of this rigid-body.

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.

pub fn wake_up(&mut self, strong: bool)

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

Is this rigid body sleeping?

pub fn is_moving(&self) -> bool

Is the velocity of this body not zero?

pub fn linvel(&self) -> Vec2

The linear velocity of this rigid-body.

pub fn angvel(&self) -> Real

The angular velocity of this rigid-body.

pub fn set_linvel(&mut self, linvel: Vec2, wake_up: bool)

pub fn set_angvel(&mut self, angvel: Real, 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.

pub fn set_next_kinematic_rotation(&mut self, rotation: Real)

If this rigid body is kinematic, sets its future translation after the next timestep integration.

pub fn set_next_kinematic_translation(&mut self, translation: Vec2)

If this rigid body is kinematic, sets its future translation after the next timestep integration.

pub fn set_next_kinematic_position(&mut self, pos: (Vec2, f32))

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: Real ) -> (Vec2, f32)

Predicts the next position of this rigid-body, by integrating its velocity and forces by a time of dt.

impl RigidBody

pub fn velocity_at_point(&self, point: Vec2) -> Vec2

The velocity of the given world-space point on this rigid-body.

pub fn kinetic_energy(&self) -> Real

The kinetic energy of this body.

pub fn gravitational_potential_energy(&self, dt: Real, gravity: Vec2) -> Real

The potential energy of this body in a gravity field.

impl RigidBody

Applying forces and torques

pub fn reset_forces(&mut self, wake_up: bool)

Resets to zero all the constant (linear) forces manually applied to this rigid-body.

pub fn reset_torques(&mut self, wake_up: bool)

Resets to zero all the constant torques manually applied to this rigid-body.

pub fn add_force(&mut self, force: Vec2, wake_up: bool)

Adds to this rigid-body a constant force applied at its center-of-mass.ç

This does nothing on non-dynamic bodies.

pub fn add_torque(&mut self, torque: Real, wake_up: bool)

Adds to this rigid-body a constant torque at its center-of-mass.

This does nothing on non-dynamic bodies.

pub fn add_force_at_point(&mut self, force: Vec2, point: Vec2, wake_up: bool)

Adds to this rigid-body a constant force at the given world-space point of this rigid-body.

This does nothing on non-dynamic bodies.

impl RigidBody

Applying impulses and angular impulses

pub fn apply_impulse(&mut self, impulse: Vec2, 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: Real, 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.

pub fn apply_impulse_at_point( &mut self, impulse: Vec2, point: Vec2, wake_up: bool )

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.

pub fn user_force(&self) -> Vec2

Retrieves the constant force(s) that the user has added to the body.

Returns zero if the rigid-body isn’t dynamic.

Trait Implementations

impl Clone for RigidBody

fn clone(&self) -> RigidBody

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBody

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

Formats the value using the given formatter.

impl Default for RigidBody

fn default() -> RigidBody

Returns the “default value” for a type.

impl From<RigidBodyBuilder> for RigidBody

fn from(val: RigidBodyBuilder) -> Self

Converts to this type from the input type.