[−][src]Struct nphysics3d::object::MultibodyDesc
A multibody builder.
Methods
impl<'a, N: RealField> MultibodyDesc<'a, N>[src]
pub fn new<J: Joint<N>>(joint: J) -> Self[src]
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>[src]
Add a children link to the multibody link represented by self.
pub fn set_joint<J: Joint<N>>(&mut self, joint: J) -> &mut Self[src]
Sets the joint of this multibody builder.
pub fn angular_inertia(self, angular_inertia: Matrix3<N>) -> Self[src]
pub fn set_angular_inertia(&mut self, angular_inertia: Matrix3<N>) -> &mut Self[src]
pub fn collider(self, collider: &'a ColliderDesc<N>) -> Self[src]
pub fn add_collider(&mut self, collider: &'a ColliderDesc<N>) -> &mut Self[src]
pub fn mass(self, mass: N) -> Self[src]
pub fn set_mass(&mut self, mass: N) -> &mut Self[src]
pub fn name(self, name: String) -> Self[src]
pub fn set_name(&mut self, name: String) -> &mut Self[src]
pub fn parent_shift(self, parent_shift: Vector<N>) -> Self[src]
pub fn set_parent_shift(&mut self, parent_shift: Vector<N>) -> &mut Self[src]
pub fn body_shift(self, body_shift: Vector<N>) -> Self[src]
pub fn set_body_shift(&mut self, body_shift: Vector<N>) -> &mut Self[src]
pub fn velocity(self, velocity: Velocity<N>) -> Self[src]
pub fn set_velocity(&mut self, velocity: Velocity<N>) -> &mut Self[src]
pub fn local_inertia(self, local_inertia: Inertia<N>) -> Self[src]
pub fn set_local_inertia(&mut self, local_inertia: Inertia<N>) -> &mut Self[src]
pub fn local_center_of_mass(self, local_center_of_mass: Point<N>) -> Self[src]
pub fn set_local_center_of_mass(
&mut self,
local_center_of_mass: Point<N>
) -> &mut Self[src]
&mut self,
local_center_of_mass: Point<N>
) -> &mut Self
pub fn get_angular_inertia(&self) -> &Matrix3<N>[src]
pub fn get_mass(&self) -> N[src]
pub fn get_name(&self) -> &str[src]
pub fn get_parent_shift(&self) -> &Vector<N>[src]
pub fn get_body_shift(&self) -> &Vector<N>[src]
pub fn get_velocity(&self) -> &Velocity<N>[src]
pub fn get_local_inertia(&self) -> &Inertia<N>[src]
pub fn get_local_center_of_mass(&self) -> &Point<N>[src]
pub fn build<'w>(&self, world: &'w mut World<N>) -> &'w mut Multibody<N>[src]
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>>[src]
&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: RealField> BodyDesc<N> for MultibodyDesc<'a, N>[src]
type Body = Multibody<N>
The type of body being generated.
fn build_with_handle(
&self,
cworld: &mut ColliderWorld<N>,
handle: BodyHandle
) -> Multibody<N>[src]
&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, U> Into for T where
U: From<T>, [src]
U: From<T>,
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<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