[−][src]Struct nphysics3d::object::MultibodyDesc
A multibody builder.
Methods
impl<'a, N: Real> MultibodyDesc<'a, N>
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pub fn new<J: Joint<N>>(joint: J) -> Self
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Initialize a multibody builder with one link with one joint.
pub fn add_child<J: Joint<N>>(&mut self, joint: J) -> &mut MultibodyDesc<'a, N>
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Add a children link to the multibody link represented by self
.
pub fn set_joint<J: Joint<N>>(&mut self, joint: J) -> &mut Self
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Sets the joint of this multibody builder.
pub fn angular_inertia(self, angular_inertia: Matrix3<N>) -> Self
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pub fn set_angular_inertia(&mut self, angular_inertia: Matrix3<N>) -> &mut Self
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pub fn collider(self, collider: &'a ColliderDesc<N>) -> Self
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pub fn add_collider(&mut self, collider: &'a ColliderDesc<N>) -> &mut Self
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pub fn mass(self, mass: N) -> Self
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pub fn set_mass(&mut self, mass: N) -> &mut Self
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pub fn name(self, name: String) -> Self
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pub fn set_name(&mut self, name: String) -> &mut Self
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pub fn parent_shift(self, parent_shift: Vector<N>) -> Self
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pub fn set_parent_shift(&mut self, parent_shift: Vector<N>) -> &mut Self
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pub fn body_shift(self, body_shift: Vector<N>) -> Self
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pub fn set_body_shift(&mut self, body_shift: Vector<N>) -> &mut Self
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pub fn velocity(self, velocity: Velocity<N>) -> Self
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pub fn set_velocity(&mut self, velocity: Velocity<N>) -> &mut Self
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pub fn local_inertia(self, local_inertia: Inertia<N>) -> Self
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pub fn set_local_inertia(&mut self, local_inertia: Inertia<N>) -> &mut Self
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pub fn local_center_of_mass(self, local_center_of_mass: Point<N>) -> Self
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pub fn set_local_center_of_mass(
&mut self,
local_center_of_mass: Point<N>
) -> &mut Self
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&mut self,
local_center_of_mass: Point<N>
) -> &mut Self
pub fn get_angular_inertia(&self) -> &Matrix3<N>
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pub fn get_mass(&self) -> N
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pub fn get_name(&self) -> &str
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pub fn get_parent_shift(&self) -> &Vector<N>
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pub fn get_body_shift(&self) -> &Vector<N>
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pub fn get_velocity(&self) -> &Velocity<N>
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pub fn get_local_inertia(&self) -> &Inertia<N>
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pub fn get_local_center_of_mass(&self) -> &Point<N>
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pub fn build<'w>(&self, world: &'w mut World<N>) -> &'w mut Multibody<N>
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Build into the world
the multibody represented by self
and its children.
pub fn build_with_parent<'w>(
&self,
parent: BodyPartHandle,
world: &'w mut World<N>
) -> Option<&'w mut MultibodyLink<N>>
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&self,
parent: BodyPartHandle,
world: &'w mut World<N>
) -> Option<&'w mut MultibodyLink<N>>
Adds the links represented by self
and its children to the multibody identified by parent
.
If parent
is the ground, then a new multibody is created.
If parent
is not another multibody link, then None
is returned.
Trait Implementations
impl<'a, N: Real> BodyDesc<N> for MultibodyDesc<'a, N>
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type Body = Multibody<N>
The type of body being generated.
fn build_with_handle(
&self,
cworld: &mut ColliderWorld<N>,
handle: BodyHandle
) -> Multibody<N>
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&self,
cworld: &mut ColliderWorld<N>,
handle: BodyHandle
) -> Multibody<N>
Auto Trait Implementations
impl<'a, N> Send for MultibodyDesc<'a, N> where
N: Scalar,
N: Scalar,
impl<'a, N> Sync for MultibodyDesc<'a, N> where
N: Scalar,
N: Scalar,
Blanket Implementations
impl<T> From for T
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impl<T, U> Into for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom for T where
U: Into<T>,
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U: Into<T>,
type Error = !
🔬 This is a nightly-only experimental API. (
try_from
)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> Borrow for T where
T: ?Sized,
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T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T, U> TryInto for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
🔬 This is a nightly-only experimental API. (
try_from
)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<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 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<SS, SP> SupersetOf 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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unsafe fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> Same for T
type Output = T
Should always be Self