Struct BodyVelocity 

pub struct BodyVelocity {
    pub linear: [Real; 3],
    pub angular: [Real; 3],
}

Linear/angular velocity state for a rigid body.

Fields

linear: [Real; 3]

Linear velocity (m/s).

angular: [Real; 3]

Angular velocity (rad/s).

Implementations

impl BodyVelocity

pub fn new(linear: [Real; 3], angular: [Real; 3]) -> Self

Create a new velocity state.

pub fn linear_speed_sq(&self) -> Real

Return the squared magnitude of the linear speed.

pub fn angular_speed_sq(&self) -> Real

Return the squared magnitude of the angular speed.

pub fn apply_linear_impulse(&mut self, impulse: [Real; 3], inv_mass: Real)

Apply a linear impulse (change in linear velocity) given inverse mass.

pub fn apply_angular_impulse( &mut self, torque_impulse: [Real; 3], inv_inertia: Real, )

Apply an angular impulse (change in angular velocity) given inverse inertia scalar.

pub fn damp(&mut self, linear_damping: Real, angular_damping: Real, dt: Real)

Damp velocities by the given linear/angular damping factors.

pub fn zero(&mut self)

Zero all velocities (put body at rest).

Trait Implementations

impl Clone for BodyVelocity

fn clone(&self) -> BodyVelocity

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for BodyVelocity

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

Formats the value using the given formatter.

impl Default for BodyVelocity

fn default() -> BodyVelocity

Returns the “default value” for a type.