Struct oxygengine_physics_2d::prelude::MultibodyDesc [−][src]
Expand description
A multibody builder.
Implementations
Initialize a multibody builder with one link with one joint.
Initializes a multibody builder from a joint trait object.
Returns the children of this multibody.
Returns a mutable list of children of this multibody.
Add a child link to the multibody link represented by self
.
Adds the description as a child link to the multibody link represented by self
.
Sets the joint of this multibody builder.
pub fn parent_shift(
self,
parent_shift: Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
) -> MultibodyDesc<N>
pub fn set_parent_shift(
&mut self,
parent_shift: Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
) -> &mut MultibodyDesc<N>
pub fn body_shift(
self,
body_shift: Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
) -> MultibodyDesc<N>
pub fn set_body_shift(
&mut self,
body_shift: Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
) -> &mut MultibodyDesc<N>
pub fn local_center_of_mass(
self,
local_center_of_mass: OPoint<N, Const<2_usize>>
) -> MultibodyDesc<N>
pub fn set_local_center_of_mass(
&mut self,
local_center_of_mass: OPoint<N, Const<2_usize>>
) -> &mut MultibodyDesc<N>
pub fn get_parent_shift(
&self
) -> &Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
pub fn get_body_shift(
&self
) -> &Matrix<N, Const<{_: usize}>, Const<1_usize>, ArrayStorage<N, 2_usize, 1_usize>>
pub fn build_with_parent(
&self,
multibody: &'m mut Multibody<N>,
parent_id: usize
) -> &'m mut MultibodyLink<N>
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
.
Auto Trait Implementations
impl<N> !RefUnwindSafe for MultibodyDesc<N>
impl<N> Send for MultibodyDesc<N>
impl<N> Sync for MultibodyDesc<N>
impl<N> Unpin for MultibodyDesc<N> where
N: Unpin,
impl<N> !UnwindSafe for MultibodyDesc<N>
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.