[−][src]Struct nphysics3d::algebra::Inertia3
The inertia of a rigid body grouping both its mass and its angular inertia.
Fields
linear: NThe linear part (mass) of the inertia.
angular: Matrix3<N>The angular inertia.
Methods
impl<N: RealField> Inertia3<N>[src]
pub fn new(linear: N, angular: Matrix3<N>) -> Self[src]
Creates an inertia from its linear and angular components.
pub fn new_with_angular_matrix(linear: N, angular: Matrix3<N>) -> Self[src]
Creates an inertia from its linear and angular components.
pub fn mass(&self) -> N[src]
Get the mass.
pub fn zero() -> Self[src]
Create a zero inertia.
pub fn angular_matrix(&self) -> &Matrix3<N>[src]
Get the angular inertia tensor.
pub fn to_matrix(&self) -> Matrix6<N>[src]
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[src]
Compute the inertia on the given coordinate frame.
pub fn inverse(&self) -> Self[src]
Inverts this inetia matrix.
Sets the angular part to zero if it is not invertible.
Trait Implementations
impl<N: Copy + RealField> Copy for Inertia3<N>[src]
impl<N: Clone + RealField> Clone for Inertia3<N>[src]
fn clone(&self) -> Inertia3<N>[src]
fn clone_from(&mut self, source: &Self)1.0.0[src]
Performs copy-assignment from source. Read more
impl<N: Debug + RealField> Debug for Inertia3<N>[src]
impl<N: RealField> Add<Inertia3<N>> for Inertia3<N>[src]
type Output = Inertia3<N>
The resulting type after applying the + operator.
fn add(self, rhs: Inertia3<N>) -> Inertia3<N>[src]
impl<N: RealField> Mul<Velocity3<N>> for Inertia3<N>[src]
type Output = Force3<N>
The resulting type after applying the * operator.
fn mul(self, rhs: Velocity3<N>) -> Force3<N>[src]
impl<N: RealField> Mul<Force3<N>> for Inertia3<N>[src]
type Output = Velocity3<N>
The resulting type after applying the * operator.
fn mul(self, rhs: Force3<N>) -> Velocity3<N>[src]
impl<N: RealField> AddAssign<Inertia3<N>> for Inertia3<N>[src]
fn add_assign(&mut self, rhs: Inertia3<N>)[src]
Auto Trait Implementations
Blanket Implementations
impl<T, U> Into for T where
U: From<T>, [src]
U: From<T>,
impl<T> ToOwned for T where
T: Clone, [src]
T: Clone,
impl<T> From for T[src]
impl<T, U> TryFrom for T where
U: Into<T>, [src]
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>[src]
impl<T> Borrow for T where
T: ?Sized, [src]
T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized, [src]
T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized, [src]
T: ?Sized,
fn borrow_mut(&mut self) -> &mut T[src]
impl<T, U> TryInto for T where
U: TryFrom<T>, [src]
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>[src]
impl<T> Downcast for T where
T: Any, [src]
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>[src]
fn as_any(&self) -> &(dyn Any + 'static)[src]
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)[src]
impl<T, Right> ClosedAdd for T where
T: Add<Right, Output = T> + AddAssign<Right>, [src]
T: Add<Right, Output = T> + AddAssign<Right>,
impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>, [src]
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>[src]
fn is_in_subset(&self) -> bool[src]
unsafe fn to_subset_unchecked(&self) -> SS[src]
fn from_subset(element: &SS) -> SP[src]
impl<T> Same for T
type Output = T
Should always be Self