Struct GpuRigidBody 

pub struct GpuRigidBody {
    pub position: [f32; 3],
    pub velocity: [f32; 3],
    pub orientation: [f32; 4],
    pub angular_velocity: [f32; 3],
    pub mass: f32,
    pub inv_inertia: [f32; 9],
}

A single rigid body stored in GPU-friendly packed arrays of f32.

Orientation is stored as a unit quaternion [x, y, z, w]. The inverse inertia tensor is stored in row-major order as a 3×3 matrix.

Fields

position: [f32; 3]

World-space position (metres).

velocity: [f32; 3]

Linear velocity (m/s).

orientation: [f32; 4]

Orientation quaternion [x, y, z, w].

angular_velocity: [f32; 3]

Angular velocity in world space (rad/s).

mass: f32

Mass in kilograms.

inv_inertia: [f32; 9]

Inverse of the body-space inertia tensor, row-major (3×3).

Implementations

impl GpuRigidBody

pub fn new(mass: f32, ixx: f32, iyy: f32, izz: f32) -> Self

Create a new rigid body at rest with the given mass and diagonal inertia.

ixx, iyy, izz are the principal moments of inertia.

Trait Implementations

impl Clone for GpuRigidBody

fn clone(&self) -> GpuRigidBody

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GpuRigidBody

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

Formats the value using the given formatter.