[−][src]Struct nphysics2d::object::MultibodyLink
One link of a multibody.
Implementations
impl<N: RealField> MultibodyLink<N>
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pub fn new(
internal_id: usize,
assembly_id: usize,
impulse_id: usize,
parent_internal_id: usize,
dof: Box<dyn Joint<N>>,
parent_shift: Vector<N>,
body_shift: Vector<N>,
parent_to_world: Isometry<N>,
local_to_world: Isometry<N>,
local_to_parent: Isometry<N>,
local_inertia: Inertia<N>,
local_com: Point<N>
) -> Self
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internal_id: usize,
assembly_id: usize,
impulse_id: usize,
parent_internal_id: usize,
dof: Box<dyn Joint<N>>,
parent_shift: Vector<N>,
body_shift: Vector<N>,
parent_to_world: Isometry<N>,
local_to_world: Isometry<N>,
local_to_parent: Isometry<N>,
local_inertia: Inertia<N>,
local_com: Point<N>
) -> Self
Creates a new multibody link.
pub fn is_root(&self) -> bool
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Checks if this link is the root of the multibody.
pub fn joint(&self) -> &dyn Joint<N>
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Reference to the joint attaching this link to its parent.
pub fn joint_mut(&mut self) -> &mut dyn Joint<N>
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Mutable reference to the joint attaching this link to its parent.
pub fn parent_shift(&self) -> &Vector<N>
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The shift between this link's parent and this link joint origin.
pub fn body_shift(&self) -> &Vector<N>
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The shift between this link's joint origin and this link origin.
pub fn name(&self) -> &str
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This link's name.
pub fn set_name(&mut self, name: String)
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Sets this link's name.
pub fn link_id(&self) -> usize
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The handle of this multibody link.
Trait Implementations
impl<N: RealField> BodyPart<N> for MultibodyLink<N>
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fn is_ground(&self) -> bool
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fn center_of_mass(&self) -> Point<N>
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fn local_center_of_mass(&self) -> Point<N>
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fn velocity(&self) -> Velocity<N>
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fn position(&self) -> Isometry<N>
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fn local_inertia(&self) -> Inertia<N>
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fn inertia(&self) -> Inertia<N>
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fn safe_position(&self) -> Isometry<N>
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Auto Trait Implementations
impl<N> !RefUnwindSafe for MultibodyLink<N>
impl<N> Send for MultibodyLink<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for MultibodyLink<N> where
N: Scalar,
N: Scalar,
impl<N> Unpin for MultibodyLink<N> where
N: Scalar + Unpin,
N: Scalar + Unpin,
impl<N> !UnwindSafe for MultibodyLink<N>
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,