Struct MassProperties 

pub struct MassProperties {
    pub mass: Real,
    pub center_of_mass: Vec3,
    pub local_inertia: Mat3,
}

Mass properties of a rigid body.

Fields

mass: Real

Mass in kilograms.

center_of_mass: Vec3

Center of mass in local space.

local_inertia: Mat3

Local inertia tensor (3x3 matrix).

Implementations

impl MassProperties

pub fn new(mass: Real, center_of_mass: Vec3, local_inertia: Mat3) -> Self

Create new mass properties.

pub fn point_mass(mass: Real) -> Self

Mass properties for a point mass.

pub fn inverse_mass(&self) -> Real

Inverse mass (0 for infinite/static mass).

pub fn inverse_inertia(&self) -> Mat3

Inverse inertia tensor (zero matrix for infinite/static inertia).

impl MassProperties

pub fn sphere(mass: Real, radius: Real) -> Self

Mass properties for a uniform-density sphere.

pub fn cuboid(mass: Real, wx: Real, wy: Real, wz: Real) -> Self

Mass properties for a uniform-density box with dimensions (wx, wy, wz).

pub fn cylinder(mass: Real, radius: Real, height: Real) -> Self

Mass properties for a uniform-density cylinder (axis along Y).

pub fn is_static(&self) -> bool

Check if this represents a static (infinite mass) body.

pub fn combine(&self, other: &MassProperties) -> MassProperties

Combine two mass properties (additive).

impl MassProperties

pub fn cone(mass: Real, radius: Real, height: Real) -> Self

Mass properties for a uniform-density cone (apex at top, base at bottom, axis along +Y). Height = height, base radius = radius.

pub fn spherical_shell(mass: Real, radius: Real) -> Self

Mass properties for a hollow spherical shell.

pub fn capsule(mass: Real, radius: Real, half_height: Real) -> Self

Mass properties for a uniform-density capsule (cylinder + 2 hemispheres, axis along Y).

pub fn shifted_inertia(&self, d: Vec3) -> Mat3

Parallel-axis theorem: shift the inertia tensor by offset d from the center of mass.

Trait Implementations

impl Clone for MassProperties

fn clone(&self) -> MassProperties

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MassProperties

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.