Struct mgf::SimpleDynamicBody

pub struct SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy,  {
    pub restitution: f32,
    pub friction: f32,
    pub inv_mass: f32,
    pub inv_moment_body: Matrix3<f32>,
    pub inv_moment: Matrix3<f32>,
    pub v: Vector3<f32>,
    pub omega: Vector3<f32>,
    pub q: Quaternion<f32>,
    pub force: Vector3<f32>,
    pub torque: Vector3<f32>,
    pub collider: Moving<S>,
}

A dynamic body based on a single component.

Fields

restitution: f32

friction: f32

inv_mass: f32

inv_moment_body: Matrix3<f32>

inv_moment: Matrix3<f32>

v: Vector3<f32>

omega: Vector3<f32>

q: Quaternion<f32>

force: Vector3<f32>

torque: Vector3<f32>

collider: Moving<S>

Methods

impl<S> SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy, 

fn new(
    restitution: f32,
    friction: f32,
    world_force: Vector3<f32>,
    shape: S,
    mass: f32
) -> Self

Construct a new SimpleDynamicBody.

Trait Implementations

impl<S: Clone> Clone for SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy, 

fn clone(&self) -> SimpleDynamicBody<S>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<S> AddAssign<Vector3<f32>> for SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy, 

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

Performs the += operation.

impl<S> SubAssign<Vector3<f32>> for SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy, 

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

Performs the -= operation.

impl<S> Shape for SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy, 

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

Returns the center of mass of the geometry, assuming a regular density.

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

Sets the center of the shape to p.

impl<S> Delta for SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy, 

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

impl<S, B> BoundedBy<B> for SimpleDynamicBody<S> where
    S: BoundedBy<B> + Volumetric + Inertia + Copy,
    B: Bound, 

fn bounds(&self) -> B

impl<S, RHS> Contacts<RHS> for SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy,
    RHS: Contacts<Moving<S>>, 

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<S> PhysicsObject for SimpleDynamicBody<S> where
    S: Volumetric + Inertia + Copy, 

fn integrate(&mut self, dt: f32)

Integrate the object over the time step.

fn get_dx(&self) -> Velocity

Return the velocity of the object.

fn set_dx(&mut self, v: Velocity)

Set the velocity of the object.

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

Return the position of the object at the end of the time step.

fn inv_mass(&self) -> f32

Return the inverse mass of the object.

fn inv_moment(&self) -> Matrix3<f32>

Return the inverse moment of inertia tensor for the object.

fn restitution(&self) -> f32

Return the coefficient of restitution for the object.

fn friction(&self) -> f32

Return the friction coefficient for the object.