Struct SimBodyState 

pub struct SimBodyState {
    pub handle: u32,
    pub position: [f64; 3],
    pub velocity: [f64; 3],
    pub orientation: [f64; 4],
    pub angular_velocity: [f64; 3],
    pub is_sleeping: bool,
    pub is_static: bool,
    pub tag: Option<String>,
}

Serializable state of a single rigid body within a snapshot.

Fields

handle: u32

Slot handle (u32 index in the world).

position: [f64; 3]

Position [x, y, z] in world space.

velocity: [f64; 3]

Linear velocity [vx, vy, vz].

orientation: [f64; 4]

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

angular_velocity: [f64; 3]

Angular velocity [wx, wy, wz].

is_sleeping: bool

Whether this body is currently sleeping.

is_static: bool

Whether this body is static.

tag: Option<String>

Optional user tag.

Implementations

impl SimBodyState

pub fn at_rest(handle: u32, position: [f64; 3]) -> Self

Create a SimBodyState with default motion (at rest, identity orientation).

pub fn speed(&self) -> f64

Speed (magnitude of linear velocity).

pub fn angular_speed(&self) -> f64

Angular speed (magnitude of angular velocity).

pub fn kinetic_energy_proxy(&self) -> f64

Kinetic energy estimate using a unit-mass approximation.

pub fn distance_from_origin(&self) -> f64

Distance from origin.

pub fn is_at_rest(&self, linear_threshold: f64, angular_threshold: f64) -> bool

Whether the body is effectively at rest (speed < threshold).

Trait Implementations

impl Clone for SimBodyState

fn clone(&self) -> SimBodyState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SimBodyState

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for SimBodyState

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for SimBodyState

fn eq(&self, other: &SimBodyState) -> 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 Serialize for SimBodyState

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for SimBodyState