Struct oxygengine_physics_2d::prelude::MultibodyDesc

pub struct MultibodyDesc<N> where
    N: RealField,  { /* fields omitted */ }

A multibody builder.

Implementations

impl<N> MultibodyDesc<N> where
    N: RealField, 

pub fn new<J>(joint: J) -> MultibodyDesc<N> where
    J: Joint<N>, 

Initialize a multibody builder with one link with one joint.

pub fn from_boxed_joint(joint: Box<dyn Joint<N> + 'static>) -> MultibodyDesc<N>

Initializes a multibody builder from a joint trait object.

pub fn children(&self) -> &[MultibodyDesc<N>]

Returns the children of this multibody.

pub fn children_mut(&mut self) -> &mut [MultibodyDesc<N>]

Returns a mutable list of children of this multibody.

pub fn add_child<J>(&mut self, joint: J) -> &mut MultibodyDesc<N> where
    J: Joint<N>, 

Add a child link to the multibody link represented by self.

pub fn add_child_desc(
    &mut self,
    child: MultibodyDesc<N>
) -> &mut MultibodyDesc<N>

Adds the description as a child link to the multibody link represented by self.

pub fn set_joint<J>(&mut self, joint: J) -> &mut MultibodyDesc<N> where
    J: Joint<N>, 

Sets the joint of this multibody builder.

pub fn angular_inertia(self, angular_inertia: N) -> MultibodyDesc<N>

pub fn set_angular_inertia(
    &mut self,
    angular_inertia: N
) -> &mut MultibodyDesc<N>

pub fn mass(self, mass: N) -> MultibodyDesc<N>

pub fn set_mass(&mut self, mass: N) -> &mut MultibodyDesc<N>

pub fn name(self, name: String) -> MultibodyDesc<N>

pub fn set_name(&mut self, name: String) -> &mut MultibodyDesc<N>

pub fn parent_shift(
    self,
    parent_shift: Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>
) -> MultibodyDesc<N>

pub fn set_parent_shift(
    &mut self,
    parent_shift: Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>
) -> &mut MultibodyDesc<N>

pub fn body_shift(
    self,
    body_shift: Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>
) -> MultibodyDesc<N>

pub fn set_body_shift(
    &mut self,
    body_shift: Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>
) -> &mut MultibodyDesc<N>

pub fn velocity(self, velocity: Velocity2<N>) -> MultibodyDesc<N>

pub fn set_velocity(&mut self, velocity: Velocity2<N>) -> &mut MultibodyDesc<N>

pub fn local_inertia(self, local_inertia: Inertia2<N>) -> MultibodyDesc<N>

pub fn set_local_inertia(
    &mut self,
    local_inertia: Inertia2<N>
) -> &mut MultibodyDesc<N>

pub fn local_center_of_mass(
    self,
    local_center_of_mass: Point<N, U2>
) -> MultibodyDesc<N>

pub fn set_local_center_of_mass(
    &mut self,
    local_center_of_mass: Point<N, U2>
) -> &mut MultibodyDesc<N>

pub fn get_angular_inertia(&self) -> N

pub fn get_mass(&self) -> N

pub fn get_name(&self) -> &str

pub fn get_parent_shift(
    &self
) -> &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>

pub fn get_body_shift(
    &self
) -> &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>

pub fn get_velocity(&self) -> &Velocity2<N>

pub fn get_local_inertia(&self) -> &Inertia2<N>

pub fn get_local_center_of_mass(&self) -> &Point<N, U2>

pub fn build(&self) -> Multibody<N>

Build the multibody described by this factory.

pub fn build_with_parent(
    &self,
    multibody: &'m mut Multibody<N>,
    parent_id: usize
) -> &'m mut MultibodyLink<N>

Build the multibody links described by this factory and attach them to the parent_id-th link of the given multibody.