Struct nphysics3d::object::RigidBody

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

A rigid body.

Methods

impl<N: Real> RigidBody<N>

pub fn new(     handle: BodyHandle,     position: Isometry<N>,     local_inertia: Inertia<N>,     local_com: Point<N> ) -> Self

Create a new rigid body with the specified handle and dynamic properties.

pub fn activation_status(&self) -> &ActivationStatus<N>

Informations regarding activation and deactivation (sleeping) of this rigid body.

pub fn activation_status_mut(&mut self) -> &mut ActivationStatus<N>

Mutable informations regarding activation and deactivation (sleeping) of this rigid body.

pub fn activate(&mut self)

Force the activation of this rigid body.

pub fn activate_with_energy(&mut self, energy: N)

Force the activation of this rigid body with the given level of energy.

pub fn deactivate(&mut self)

Put this rigid body to sleep.

pub fn is_active(&self) -> bool

Return true if this rigid body is kinematic or dynamic and awake.

pub fn status(&self) -> BodyStatus

The status of this rigid body.

pub fn set_status(&mut self, status: BodyStatus)

Set the status of this body.

pub fn companion_id(&self) -> usize

The companion ID of this rigid body.

pub fn set_companion_id(&mut self, id: usize)

Set the companion ID of this rigid body.

This value may be overriden by nphysics during a timestep.

pub fn is_dynamic(&self) -> bool

Whether or not the status of this rigid body is dynamic.

pub fn is_static(&self) -> bool

Whether or not the status of this rigid body is static.

pub fn is_kinematic(&self) -> bool

Whether or not the status of this rigid body is kinematic.

pub fn center_of_mass(&self) -> Point<N>

The center of mass of this rigid body.

pub fn velocity(&self) -> &Velocity<N>

The velocity of this rigid body.

pub fn set_position(&mut self, pos: Isometry<N>)

Sets the position of this rigid body.

pub fn set_velocity(&mut self, vel: Velocity<N>)

Set the velocity of this rigid body.

pub fn set_linear_velocity(&mut self, vel: Vector<N>)

Set the linear velocity of this rigid body.

pub fn set_angular_velocity(&mut self, vel: AngularVector<N>)

Set the angular velocity of this rigid body.

pub fn clear_dynamics(&mut self)

Reset the timestep-specific dynamic information of this rigid body.

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

Update the timestep-specific dynamic information of this rigid body.

pub fn local_inertia(&self) -> &Inertia<N>

The rigid body inertia in local-space.

pub fn inertia(&self) -> &Inertia<N>

The rigid body inertia in world-space.

pub fn augmented_mass(&self) -> &Inertia<N>

The augmented mass (inluding gyroscropic terms) in world-space of this rigid body.

pub fn inv_augmented_mass(&self) -> &Inertia<N>

The inverse augmented mass (inluding gyroscropic terms) in world-space of this rigid body.

pub fn handle(&self) -> BodyHandle

The handle of this rigid body.

pub fn ndofs(&self) -> usize

The number of degrees of freedom of this rigid body.

pub fn generalized_velocity(&self) -> DVectorSlice<N>

The generalized velocities of this rigid body.

pub fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<N>

The mutable generalized velocities of this rigid body.

pub fn generalized_acceleration(&self) -> DVectorSlice<N>

The generalized accelerations at each degree of freedom of this rigid body.

pub fn integrate(&mut self, params: &IntegrationParameters<N>)

Integrate the position of this rigid body.

pub fn apply_displacement(&mut self, displacement: &Velocity<N>)

Apply a displacement to this rigid body.

Note that the applied displacement is given by displacement multiplied by a time equal to 1.0.

pub fn apply_force(&mut self, force: &Force<N>)

Apply a force to this rigid body for the next timestep.

pub fn position(&self) -> Isometry<N>

The position of this rigid body wrt. the ground.

pub fn body_jacobian_mul_force(&self, force: &Force<N>, out: &mut [N])

Convert a force applied to this rigid body center of mass into generalized force.

pub fn inv_mass_mul_generalized_forces(&self, out: &mut [N])

Convert generalized forces applied to this rigid body into generalized accelerations.

pub fn inv_mass_mul_force(&self, force: &Force<N>, out: &mut [N])

Convert a force applied to this rigid body's center of mass into generalized accelerations.