[−][src]Trait nphysics2d::object::BodyPart
Trait implemented by each part of a body supported by nphysics.
Required methods
fn center_of_mass(&self) -> Point<N>
The center of mass of this body part.
fn local_center_of_mass(&self) -> Point<N>
The local center of mass of this body part.
fn position(&self) -> Isometry<N>
The position of this body part wrt. the ground.
fn velocity(&self) -> Velocity<N>
The velocity of this body part.
fn inertia(&self) -> Inertia<N>
The world-space inertia of this body part.
fn local_inertia(&self) -> Inertia<N>
The local-space inertia of this body part.
Provided methods
fn is_ground(&self) -> bool
Returns true
if this body part is the ground.
fn safe_position(&self) -> Isometry<N>
If CCD is enabled, this is the last position known to be tunnelling-free.
Implementations
impl<N> dyn BodyPart<N> where
N: Any + 'static,
N: RealField,
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N: Any + 'static,
N: RealField,
pub fn is<__T: BodyPart<N>>(&self) -> bool
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Returns true if the trait object wraps an object of type __T
.
pub fn downcast<__T: BodyPart<N>>(
self: Box<Self>
) -> Result<Box<__T>, Box<Self>>
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self: Box<Self>
) -> Result<Box<__T>, Box<Self>>
Returns a boxed object from a boxed trait object if the underlying object is of type
__T
. Returns the original boxed trait if it isn't.
pub fn downcast_rc<__T: BodyPart<N>>(
self: Rc<Self>
) -> Result<Rc<__T>, Rc<Self>>
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self: Rc<Self>
) -> Result<Rc<__T>, Rc<Self>>
Returns an Rc
-ed object from an Rc
-ed trait object if the underlying object is of
type __T
. Returns the original Rc
-ed trait if it isn't.
pub fn downcast_ref<__T: BodyPart<N>>(&self) -> Option<&__T>
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Returns a reference to the object within the trait object if it is of type __T
, or
None
if it isn't.
pub fn downcast_mut<__T: BodyPart<N>>(&mut self) -> Option<&mut __T>
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Returns a mutable reference to the object within the trait object if it is of type
__T
, or None
if it isn't.