[−][src]Struct nphysics3d::object::Multibody
An articulated body simulated using the reduced-coordinates approach.
Methods
impl<N: RealField> Multibody<N>
[src]
pub fn user_data(&self) -> Option<&(dyn Any + Send + Sync)>
[src]
Retrieves a reference to the user-defined user-data attached to this object.
pub fn user_data_mut(&mut self) -> Option<&mut (dyn Any + Send + Sync)>
[src]
Retrieves a mutable reference to the user-defined user-data attached to this object.
pub fn set_user_data(
&mut self,
data: Option<Box<dyn Any + Send + Sync>>
) -> Option<Box<dyn Any + Send + Sync>>
[src]
&mut self,
data: Option<Box<dyn Any + Send + Sync>>
) -> Option<Box<dyn Any + Send + Sync>>
Sets the user-defined data attached to this object.
pub fn take_user_data(&mut self) -> Option<Box<dyn Any + Send + Sync>>
[src]
Replace by None
the user-defined data attached to this object and returns the old value.
pub fn root(&self) -> &MultibodyLink<N>
[src]
The first link of this multibody.
pub fn root_mut(&mut self) -> &mut MultibodyLink<N>
[src]
Mutable reference to the first link of this multibody.
pub fn link(&self, id: usize) -> Option<&MultibodyLink<N>>
[src]
Reference to the multibody link with the given handle.
Return None
if the given handle does not identifies a multibody link part of self
.
pub fn link_mut(&mut self, id: usize) -> Option<&mut MultibodyLink<N>>
[src]
Mutable reference to the multibody link with the given id.
Return None
if the given id does not identifies a multibody link part of self
.
pub fn links_with_name<'a>(
&'a self,
name: &'a str
) -> impl Iterator<Item = &'a MultibodyLink<N>>
[src]
&'a self,
name: &'a str
) -> impl Iterator<Item = &'a MultibodyLink<N>>
The links of this multibody with the given name
.
pub fn links(&self) -> impl Iterator<Item = &MultibodyLink<N>>
[src]
Iterator through all the links of this multibody.
All link are guaranteed to be yielded before its descendant.
pub fn damping(&self) -> &DVector<N>
[src]
The vector of damping applied to this multibody.
pub fn damping_mut(&mut self) -> &mut DVector<N>
[src]
Mutable vector of damping applied to this multibody.
pub fn set_link_mass(&mut self, link_id: usize, mass: N)
[src]
Set the mass of the specified link.
pub fn set_link_angular_inertia(
&mut self,
link_id: usize,
angular_inertia: Matrix3<N>
)
[src]
&mut self,
link_id: usize,
angular_inertia: Matrix3<N>
)
Set the angular inertia of the specified linked, expressed in its local space.
pub fn joint_velocity(&self, link: &MultibodyLink<N>) -> DVectorSlice<N>
[src]
The generalized velocity at the joint of the given link.
pub fn link_jacobian_mul_force(
&self,
link: &MultibodyLink<N>,
force: &Force<N>,
out: &mut [N]
)
[src]
&self,
link: &MultibodyLink<N>,
force: &Force<N>,
out: &mut [N]
)
Convert a force applied to the center of mass of the link rb_id
into generalized force.
pub fn inv_mass_mul_link_force(
&self,
link: &MultibodyLink<N>,
force: &Force<N>,
out: &mut [N]
)
[src]
&self,
link: &MultibodyLink<N>,
force: &Force<N>,
out: &mut [N]
)
Convert a force applied to this multibody's link rb_id
center of mass into generalized accelerations.
pub fn inv_mass_mul_unit_joint_force(
&self,
link: &MultibodyLink<N>,
dof_id: usize,
force: N,
out: &mut [N]
)
[src]
&self,
link: &MultibodyLink<N>,
dof_id: usize,
force: N,
out: &mut [N]
)
Convert a generalized force applied to le link rb_id
's degrees of freedom into generalized accelerations.
The joint attaching this link to its parent is assumed to be a unit joint.
pub fn inv_mass_mul_joint_force(
&self,
link: &MultibodyLink<N>,
force: DVectorSlice<N>,
out: &mut [N]
)
[src]
&self,
link: &MultibodyLink<N>,
force: DVectorSlice<N>,
out: &mut [N]
)
Convert a generalized force applied to the link rb_id
's degrees of freedom into generalized accelerations.
pub fn augmented_mass(&self) -> &DMatrix<N>
[src]
The augmented mass (inluding gyroscropic and coriolis terms) in world-space of this multibody.
pub fn joint_velocity_mut(&mut self, id: usize) -> DVectorSliceMut<N>
[src]
Retrieve the mutable generalized velocities of this link.
pub fn generalized_force(&self) -> &DVector<N>
[src]
The generalized forces applied to this multibody at the next timestep.
pub fn generalized_force_mut(&mut self) -> &mut DVector<N>
[src]
Mutable reference to the generalized forces applied to this multibody at the next timestep.
Trait Implementations
impl<N: RealField> Body<N> for Multibody<N>
[src]
fn name(&self) -> &str
[src]
fn set_name(&mut self, name: String)
[src]
fn part(&self, id: usize) -> Option<&dyn BodyPart<N>>
[src]
fn deformed_positions(&self) -> Option<(DeformationsType, &[N])>
[src]
fn deformed_positions_mut(&mut self) -> Option<(DeformationsType, &mut [N])>
[src]
fn clear_update_flags(&mut self)
[src]
fn update_status(&self) -> BodyUpdateStatus
[src]
fn integrate(&mut self, params: &IntegrationParameters<N>)
[src]
fn apply_displacement(&mut self, disp: &[N])
[src]
fn clear_forces(&mut self)
[src]
fn update_kinematics(&mut self)
[src]
fn update_dynamics(&mut self, dt: N)
[src]
fn update_acceleration(
&mut self,
gravity: &Vector<N>,
_: &IntegrationParameters<N>
)
[src]
&mut self,
gravity: &Vector<N>,
_: &IntegrationParameters<N>
)
fn generalized_acceleration(&self) -> DVectorSlice<N>
[src]
fn generalized_velocity(&self) -> DVectorSlice<N>
[src]
fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<N>
[src]
fn gravity_enabled(&self) -> bool
[src]
fn enable_gravity(&mut self, enabled: bool)
[src]
fn handle(&self) -> BodyHandle
[src]
fn activation_status(&self) -> &ActivationStatus<N>
[src]
fn activate_with_energy(&mut self, energy: N)
[src]
fn deactivate(&mut self)
[src]
fn set_deactivation_threshold(&mut self, threshold: Option<N>)
[src]
fn set_status(&mut self, status: BodyStatus)
[src]
fn status(&self) -> BodyStatus
[src]
fn companion_id(&self) -> usize
[src]
fn set_companion_id(&mut self, id: usize)
[src]
fn ndofs(&self) -> usize
[src]
fn world_point_at_material_point(
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
[src]
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
fn position_at_material_point(
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Isometry<N>
[src]
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Isometry<N>
fn material_point_at_world_point(
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
[src]
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
fn fill_constraint_geometry(
&self,
part: &dyn BodyPart<N>,
ndofs: usize,
point: &Point<N>,
force_dir: &ForceDirection<N>,
j_id: usize,
wj_id: usize,
jacobians: &mut [N],
inv_r: &mut N,
ext_vels: Option<&DVectorSlice<N>>,
out_vel: Option<&mut N>
)
[src]
&self,
part: &dyn BodyPart<N>,
ndofs: usize,
point: &Point<N>,
force_dir: &ForceDirection<N>,
j_id: usize,
wj_id: usize,
jacobians: &mut [N],
inv_r: &mut N,
ext_vels: Option<&DVectorSlice<N>>,
out_vel: Option<&mut N>
)
fn has_active_internal_constraints(&mut self) -> bool
[src]
fn setup_internal_velocity_constraints(
&mut self,
ext_vels: &DVectorSlice<N>,
params: &IntegrationParameters<N>
)
[src]
&mut self,
ext_vels: &DVectorSlice<N>,
params: &IntegrationParameters<N>
)
fn warmstart_internal_velocity_constraints(
&mut self,
dvels: &mut DVectorSliceMut<N>
)
[src]
&mut self,
dvels: &mut DVectorSliceMut<N>
)
fn step_solve_internal_velocity_constraints(
&mut self,
dvels: &mut DVectorSliceMut<N>
)
[src]
&mut self,
dvels: &mut DVectorSliceMut<N>
)
fn step_solve_internal_position_constraints(
&mut self,
params: &IntegrationParameters<N>
)
[src]
&mut self,
params: &IntegrationParameters<N>
)
fn add_local_inertia_and_com(
&mut self,
part_id: usize,
com: Point<N>,
inertia: Inertia<N>
)
[src]
&mut self,
part_id: usize,
com: Point<N>,
inertia: Inertia<N>
)
fn apply_force(
&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
[src]
&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_local_force(
&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
[src]
&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_force_at_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
[src]
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_local_force_at_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
[src]
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_force_at_local_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
[src]
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_local_force_at_local_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
[src]
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn is_ground(&self) -> bool
[src]
Returns true
if this body is the ground.
fn update_activation_status(&mut self)
[src]
Update whether this body needs to be waken up after a user-interaction.
fn status_dependent_ndofs(&self) -> usize
[src]
The number of degrees of freedom (DOF) of this body, taking its status into account. Read more
fn status_dependent_body_part_velocity(
&self,
part: &dyn BodyPart<N>
) -> Velocity<N>
[src]
&self,
part: &dyn BodyPart<N>
) -> Velocity<N>
The velocity of the specified body part, taking this body status into account. Read more
fn is_active(&self) -> bool
[src]
Check if this body is active.
fn is_dynamic(&self) -> bool
[src]
Whether or not the status of this body is dynamic.
fn is_kinematic(&self) -> bool
[src]
Whether or not the status of this body is kinematic.
fn is_static(&self) -> bool
[src]
Whether or not the status of this body is static.
fn activate(&mut self)
[src]
Force the activation of this body.
Auto Trait Implementations
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> 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> Any for T where
T: 'static + ?Sized,
[src]
T: 'static + ?Sized,
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