Struct mgf::RigidBody

pub struct RigidBody {
    pub restitution: f32,
    pub friction: f32,
    pub total_inv_mass: f32,
    pub inv_moment_body: Matrix3<f32>,
    pub inv_moment: Matrix3<f32>,
    pub v: Vector3<f32>,
    pub omega: Vector3<f32>,
    pub v_step: Vector3<f32>,
    pub linear_m: Vector3<f32>,
    pub angular_m: Vector3<f32>,
    pub force: Vector3<f32>,
    pub torque: Vector3<f32>,
    pub collider: Compound,
    pub component_masses: Vec<f32>,
}

A generic physical body that has a mass, a volume, and experiences linear and rotational movement.

A RigidBody is technically a shape, although its geomtries are all considered to be in motion.

Fields

restitution: f32

friction: f32

total_inv_mass: f32

inv_moment_body: Matrix3<f32>

inv_moment: Matrix3<f32>

v: Vector3<f32>

omega: Vector3<f32>

v_step: Vector3<f32>

linear_m: Vector3<f32>

angular_m: Vector3<f32>

force: Vector3<f32>

torque: Vector3<f32>

collider: Compound

component_masses: Vec<f32>

Methods

impl RigidBody

fn new(
    restitution: f32,
    friction: f32,
    world_force: Vector3<f32>,
    shapes: Vec<Component>,
    masses: Vec<f32>
) -> Self

Construct a new RigidBody from a Vec of Components and masses.

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 AddAssign<Vector3<f32>> for RigidBody

fn add_assign(&mut self, v: Vector3<f32>)

Performs the += operation.

impl SubAssign<Vector3<f32>> for RigidBody

fn sub_assign(&mut self, v: Vector3<f32>)

Performs the -= operation.

impl Shape for RigidBody

fn center(&self) -> Point3<f32>

The center returned by a RigidBody is the center of mass for that object.

fn set_pos(&mut self, p: Point3<f32>)

Sets the center of the shape to p.

impl Delta for RigidBody

fn delta(&self) -> Vector3<f32>

impl BoundedBy<AABB> for RigidBody

fn bounds(&self) -> AABB

impl BoundedBy<Sphere> for RigidBody

fn bounds(&self) -> Sphere

impl<RHS> Contacts<RHS> for RigidBody where
    RHS: Contacts<Moving<Component>> + BoundedBy<AABB>, 

fn contacts<F: FnMut(Contact)>(&self, rhs: &RHS, callback: F) -> bool

Calls the closure for each contact found. Returns true if any contact was found.

fn last_contact(&self, rhs: &RHS) -> Option<Contact>

Returns the last contact found, if one exists.

impl PhysicsObject for RigidBody

fn integrate(&mut self, dt: f32)

Integrate the object over the timestep

fn state(&self) -> PhysicsState

Return the physics state of the object

fn apply_impulse(&mut self, linear: Vector3<f32>, angular: Vector3<f32>)

Apply linear and angular impulse to the object

fn update_dx(&mut self)

Update the linear and angular positional derivatives