[−][src]Struct nphysics2d::algebra::Inertia3
The inertia of a rigid body grouping both its mass and its angular inertia.
Fields
linear: N
The linear part (mass) of the inertia.
angular: Matrix3<N>
The angular inertia.
Implementations
impl<N: RealField> Inertia3<N>
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pub fn new(linear: N, angular: Matrix3<N>) -> Self
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Creates an inertia from its linear and angular components.
pub fn new_with_angular_matrix(linear: N, angular: Matrix3<N>) -> Self
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Creates an inertia from its linear and angular components.
pub fn mass(&self) -> N
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Get the mass.
pub fn inv_mass(&self) -> N
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Get the inverse mass.
Returns 0.0 if the mass is 0.0.
pub fn zero() -> Self
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Create a zero inertia.
pub fn angular_matrix(&self) -> &Matrix3<N>
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Get the angular inertia tensor.
pub fn to_matrix(&self) -> Matrix6<N>
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Convert the inertia into a matrix where the mass is represented as a 3x3 diagonal matrix on the upper-left corner, and the angular part as a 3x3 matrix on the lower-rigth corner.
pub fn transformed(&self, i: &Isometry3<N>) -> Self
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Compute the inertia on the given coordinate frame.
pub fn inverse(&self) -> Self
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Inverts this inetia matrix.
Sets the angular part to zero if it is not invertible.
Trait Implementations
impl<N: RealField> Add<Inertia3<N>> for Inertia3<N>
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type Output = Inertia3<N>
The resulting type after applying the +
operator.
fn add(self, rhs: Inertia3<N>) -> Inertia3<N>
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impl<N: RealField> AddAssign<Inertia3<N>> for Inertia3<N>
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fn add_assign(&mut self, rhs: Inertia3<N>)
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impl<N: Clone + RealField> Clone for Inertia3<N>
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impl<N: Copy + RealField> Copy for Inertia3<N>
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impl<N: Debug + RealField> Debug for Inertia3<N>
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impl<N: RealField> Mul<Force3<N>> for Inertia3<N>
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type Output = Velocity3<N>
The resulting type after applying the *
operator.
fn mul(self, rhs: Force3<N>) -> Velocity3<N>
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impl<N: RealField> Mul<Velocity3<N>> for Inertia3<N>
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type Output = Force3<N>
The resulting type after applying the *
operator.
fn mul(self, rhs: Velocity3<N>) -> Force3<N>
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impl<N: RealField> Neg for Inertia3<N>
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Auto Trait Implementations
impl<N> RefUnwindSafe for Inertia3<N> where
N: RefUnwindSafe + Scalar,
N: RefUnwindSafe + Scalar,
impl<N> Send for Inertia3<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for Inertia3<N> where
N: Scalar,
N: Scalar,
impl<N> Unpin for Inertia3<N> where
N: Scalar + Unpin,
N: Scalar + Unpin,
impl<N> UnwindSafe for Inertia3<N> where
N: Scalar + UnwindSafe,
N: Scalar + UnwindSafe,
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, Right> ClosedAdd<Right> for T where
T: Add<Right, Output = T> + AddAssign<Right>,
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T: Add<Right, Output = T> + AddAssign<Right>,
impl<T> ClosedNeg for T where
T: Neg<Output = T>,
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T: Neg<Output = T>,
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<T> Slottable for T where
T: Copy,
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T: Copy,
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> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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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>,