Struct RigidBodyState 

pub struct RigidBodyState {
    pub position: [f64; 3],
    pub velocity: [f64; 3],
    pub orientation: [f64; 4],
    pub angular_velocity: [f64; 3],
    pub inverse_mass: f64,
}

Full rigid body state for one body.

Orientation is stored as a unit quaternion [qx, qy, qz, qw].

Fields

position: [f64; 3]

Centre-of-mass position.

velocity: [f64; 3]

Linear velocity.

orientation: [f64; 4]

Orientation quaternion [qx, qy, qz, qw].

angular_velocity: [f64; 3]

Angular velocity in world frame.

inverse_mass: f64

Inverse mass (0 = infinite mass / static body).

Implementations

impl RigidBodyState

pub fn at_rest(position: [f64; 3], inverse_mass: f64) -> Self

Construct a RigidBodyState at rest.

Trait Implementations

impl Clone for RigidBodyState

fn clone(&self) -> RigidBodyState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyState

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

Formats the value using the given formatter.

impl PartialEq for RigidBodyState

fn eq(&self, other: &RigidBodyState) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for RigidBodyState

impl StructuralPartialEq for RigidBodyState