Struct PyRigidBody 

pub struct PyRigidBody {
    pub mass: f64,
    pub half_extents: [f64; 3],
}

PyRigidBody is a lightweight handle-based wrapper that exposes body-level computations (moment of inertia, etc.) without owning state.

Fields

mass: f64

Mass of the body (kg).

half_extents: [f64; 3]

Half-extents [hx, hy, hz] for box-shaped bodies.

Implementations

impl PyRigidBody

pub fn new(mass: f64, half_extents: [f64; 3]) -> Self

Create a new PyRigidBody with the given mass and box half-extents.

pub fn compute_moment_of_inertia_box(&self) -> InertiaTensor

Compute the solid box inertia tensor for this body.

For a solid box with mass m and half-extents (hx, hy, hz):

• Ixx = m/3 * (hy² + hz²)
• Iyy = m/3 * (hx² + hz²)
• Izz = m/3 * (hx² + hy²)

Returns an InertiaTensor with the principal-axis diagonal.

pub fn compute_moment_of_inertia_sphere(&self, radius: f64) -> InertiaTensor

Compute moment of inertia for a solid sphere.

I = 2/5 * m * r² for each axis (isotropic).