Struct nphysics3d::object::BodySet

pub struct BodySet<N: Real> { /* fields omitted */ }

A set containing all the bodies added to the world.

Methods

impl<N: Real> BodySet<N>

pub fn new() -> Self

Create a new empty set of bodies.

pub fn len(&self) -> usize

The number of bodies in this set.

pub fn are_same_body(&self, body1: BodyHandle, body2: BodyHandle) -> bool

Check if the two given handles identify the same body.

In particular, returns true if both handles indentify multibody links belonging to the same multibody.

pub fn update_kinematics(&mut self)

Update the kinematics of all the bodies.

pub fn clear_dynamics(&mut self)

Clear the dynamics of all the bodies.

pub fn update_dynamics(     &mut self,     gravity: &Vector<N>,     params: &IntegrationParameters<N>,     workspace: &mut MultibodyWorkspace<N> )

Update the dynamics of all the bodies.

pub fn add_rigid_body(     &mut self,     position: Isometry<N>,     local_inertia: Inertia<N>,     local_com: Point<N> ) -> BodyHandle

Add a rigid body to the set and return its handle.

pub fn add_multibody_link<J: Joint<N>>(     &mut self,     parent: BodyHandle,     joint: J,     parent_shift: Vector<N>,     body_shift: Vector<N>,     local_inertia: Inertia<N>,     local_com: Point<N> ) -> BodyHandle

Add a multibody link to the set and return its handle.

pub fn remove_body(&mut self, body: BodyHandle)

Remove a body from this set.

If body identify a mutibody link, the whole multibody is removed.

pub fn remove_multibody_links(&mut self, body_parts: &[BodyHandle])

Remove some multibody links.

If a multibody link which has descendent is removed, its immediat descendent in the kinematic tree becomes the root of a new multibody and its joint is replaced by a free joint attached to the ground.

pub fn contains(&self, body: BodyHandle) -> bool

Checks that the given handle identifies a valid body part.

Returns true if body.is_ground() too.

pub fn body(&self, body: BodyHandle) -> Body<N>

Reference to the body identified by body.

Panics if the body part is not found.

pub fn body_mut(&mut self, body: BodyHandle) -> BodyMut<N>

Mutable reference to the body identified by body.

Panics if the body part is not found.

pub fn body_part(&self, body: BodyHandle) -> BodyPart<N>

Reference to the body part identified by body.

Panics if the body part is not found.

pub fn body_part_mut(&mut self, body: BodyHandle) -> BodyPartMut<N>

Mutable reference to the body part identified by body.

Panics if the body part is not found.

pub fn multibody(&self, body: BodyHandle) -> Option<&Multibody<N>>

Reference to the multibody containing the multibody link identified by body.

Returns None if it is not found or does not identify a multibody link.

pub fn multibody_mut(&mut self, body: BodyHandle) -> Option<&mut Multibody<N>>

Mutable reference to the multibody containing the multibody link identified by body.

Returns None if it is not found or does not identify a multibody link.

pub fn multibody_link(&self, body: BodyHandle) -> Option<MultibodyLinkRef<N>>

Reference to the multibody link identified by body.

Returns None if it is not found or does not identify a multibody link.

pub fn multibody_link_mut(     &mut self,     body: BodyHandle ) -> Option<MultibodyLinkMut<N>>

Mutable reference to the multibody link identified by body.

Returns None if it is not found or does not identify a multibody link.

pub fn rigid_body(&self, body: BodyHandle) -> Option<&RigidBody<N>>

Reference to the rigid body identified by body.

Returns None if it is not found or does not identify a rigid body.

pub fn rigid_body_mut(&mut self, body: BodyHandle) -> Option<&mut RigidBody<N>>

Mutable reference to the rigid body identified by body.

Returns None if it is not found or does not identify a rigid body.

Important traits for Map<I, F>

impl<B, I, F> Iterator for Map<I, F> where
    F: FnMut(<I as Iterator>::Item) -> B,
    I: Iterator,  type Item = B;

pub fn rigid_bodies(     &self ) -> Map<Iter<'a, RigidBody<N>>, fn(_: (usize, &RigidBody<N>)) -> &RigidBody<N>>

Iterator yielding all the rigid bodies on this set.

Important traits for Map<I, F>

impl<B, I, F> Iterator for Map<I, F> where
    F: FnMut(<I as Iterator>::Item) -> B,
    I: Iterator,  type Item = B;

pub fn rigid_bodies_mut(     &mut self ) -> Map<IterMut<'a, RigidBody<N>>, fn(_: (usize, &mut RigidBody<N>)) -> &mut RigidBody<N>>

Mutable iterator yielding all the rigid bodies on this set.

Important traits for Map<I, F>

impl<B, I, F> Iterator for Map<I, F> where
    F: FnMut(<I as Iterator>::Item) -> B,
    I: Iterator,  type Item = B;

pub fn multibodies(     &self ) -> Map<Iter<'a, Multibody<N>>, fn(_: (usize, &Multibody<N>)) -> &Multibody<N>>

Iterator yielding all the multibodies on this set.

Important traits for Map<I, F>

impl<B, I, F> Iterator for Map<I, F> where
    F: FnMut(<I as Iterator>::Item) -> B,
    I: Iterator,  type Item = B;

pub fn multibodies_mut(     &mut self ) -> Map<IterMut<'a, Multibody<N>>, fn(_: (usize, &mut Multibody<N>)) -> &mut Multibody<N>>

Mutable iterator yielding all the multibodies on this set.

pub fn bodies_mut(&mut self) -> BodiesMut<N>

Mutable iterator yielding all the bodies on this set.