Struct Multibody 

pub struct Multibody<N>
where
    N: RealField + Copy,
{ /* private fields */ }

An articulated body simulated using the reduced-coordinates approach.

Implementations

impl<N> Multibody<N>

where N: RealField + Copy,

pub fn user_data(&self) -> Option<&(dyn Any + Send + Sync + 'static)>

Retrieves a reference to the user-defined user-data attached to this object.

pub fn user_data_mut( &mut self, ) -> Option<&mut (dyn Any + Send + Sync + 'static)>

Retrieves a mutable reference to the user-defined user-data attached to this object.

pub fn set_user_data( &mut self, data: Option<Box<dyn Any + Send + Sync>>, ) -> Option<Box<dyn Any + Send + Sync>>

Sets the user-defined data attached to this object.

pub fn take_user_data(&mut self) -> Option<Box<dyn Any + Send + Sync>>

Replace by None the user-defined data attached to this object and returns the old value.

pub fn root(&self) -> &MultibodyLink<N>

The first link of this multibody.

pub fn root_mut(&mut self) -> &mut MultibodyLink<N>

Mutable reference to the first link of this multibody.

pub fn link(&self, id: usize) -> Option<&MultibodyLink<N>>

Reference i-th multibody link of this multibody.

Return None if there is less than i + 1 multibody links.

pub fn link_mut(&mut self, id: usize) -> Option<&mut MultibodyLink<N>>

Mutable reference to the multibody link with the given id.

Return None if the given id does not identifies a multibody link part of self.

pub fn links_with_name<'a>( &'a self, name: &'a str, ) -> impl Iterator<Item = (usize, &'a MultibodyLink<N>)>

The links of this multibody with the given name.

pub fn num_links(&self) -> usize

The number of links on this multibody.

pub fn links(&self) -> impl Iterator<Item = &MultibodyLink<N>>

Iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

pub fn links_mut(&mut self) -> impl Iterator<Item = &mut MultibodyLink<N>>

Mutable iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

pub fn damping( &self, ) -> &Matrix<N, Dynamic, Const<1>, VecStorage<N, Dynamic, Const<1>>>

The vector of damping applied to this multibody.

pub fn damping_mut( &mut self, ) -> &mut Matrix<N, Dynamic, Const<1>, VecStorage<N, Dynamic, Const<1>>>

Mutable vector of damping applied to this multibody.

pub fn set_link_mass(&mut self, link_id: usize, mass: N)

Set the mass of the specified link.

pub fn set_link_angular_inertia(&mut self, link_id: usize, angular_inertia: N)

Set the angular inertia of the specified linked, expressed in its local space.

pub fn joint_velocity( &self, link: &MultibodyLink<N>, ) -> Matrix<N, Dynamic, Const<1>, SliceStorage<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>

The generalized velocity at the joint of the given link.

pub fn link_jacobian_mul_force( &self, link: &MultibodyLink<N>, force: &Force2<N>, out: &mut [N], )

Convert a force applied to the center of mass of the link rb_id into generalized force.

pub fn inv_mass_mul_link_force( &self, link: &MultibodyLink<N>, force: &Force2<N>, out: &mut [N], )

Convert a force applied to this multibody’s link rb_id center of mass into generalized accelerations.

pub fn inv_mass_mul_unit_joint_force( &self, link: &MultibodyLink<N>, dof_id: usize, force: N, out: &mut [N], )

Convert a generalized force applied to le link rb_id’s degrees of freedom into generalized accelerations.

The joint attaching this link to its parent is assumed to be a unit joint.

pub fn inv_mass_mul_joint_force( &self, link: &MultibodyLink<N>, force: Matrix<N, Dynamic, Const<1>, SliceStorage<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>, out: &mut [N], )

Convert a generalized force applied to the link rb_id’s degrees of freedom into generalized accelerations.

pub fn augmented_mass( &self, ) -> &Matrix<N, Dynamic, Dynamic, VecStorage<N, Dynamic, Dynamic>>

The augmented mass (inluding gyroscropic and coriolis terms) in world-space of this multibody.

pub fn joint_velocity_mut( &mut self, id: usize, ) -> Matrix<N, Dynamic, Const<1>, SliceStorageMut<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>

Retrieve the mutable generalized velocities of this link.

pub fn generalized_force( &self, ) -> &Matrix<N, Dynamic, Const<1>, VecStorage<N, Dynamic, Const<1>>>

The generalized forces applied to this multibody at the next timestep.

pub fn generalized_force_mut( &mut self, ) -> &mut Matrix<N, Dynamic, Const<1>, VecStorage<N, Dynamic, Const<1>>>

Mutable reference to the generalized forces applied to this multibody at the next timestep.

Trait Implementations

impl<N> Body<N> for Multibody<N>

where N: RealField + Copy,

fn num_parts(&self) -> usize

The number of parts of this body.

fn part(&self, id: usize) -> Option<&(dyn BodyPart<N> + 'static)>

A reference to the specified body part.

fn deformed_positions(&self) -> Option<(DeformationsType, &[N])>

If this is a deformable body, returns its deformed positions.

fn deformed_positions_mut(&mut self) -> Option<(DeformationsType, &mut [N])>

If this is a deformable body, returns a mutable reference to its deformed positions.

fn clear_update_flags(&mut self)

Clear all the update flags of this body.

fn update_status(&self) -> BodyUpdateStatus

The flags tracking what modifications were applied to a body.

fn integrate(&mut self, parameters: &IntegrationParameters<N>)

Integrate the position of this body.

fn apply_displacement(&mut self, disp: &[N])

Applies a generalized displacement to this body.

fn clear_forces(&mut self)

Reset the timestep-specific dynamic information of this body.

fn update_kinematics(&mut self)

Updates the kinematics, e.g., positions and jacobians, of this body.

fn update_dynamics(&mut self, dt: N)

Update the dynamics property of this body.

fn update_acceleration( &mut self, gravity: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, _: &IntegrationParameters<N>, )

Update the acceleration of this body given the forces it is subject to and the gravity.

fn generalized_acceleration( &self, ) -> Matrix<N, Dynamic, Const<1>, SliceStorage<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>

The generalized accelerations at each degree of freedom of this body.

fn generalized_velocity( &self, ) -> Matrix<N, Dynamic, Const<1>, SliceStorage<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>

The generalized velocities of this body.

fn generalized_velocity_mut( &mut self, ) -> Matrix<N, Dynamic, Const<1>, SliceStorageMut<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>

The mutable generalized velocities of this body.

fn gravity_enabled(&self) -> bool

Whether this body is affected by gravity.

fn enable_gravity(&mut self, enabled: bool)

Enable or disable gravity for this body.

fn activation_status(&self) -> &ActivationStatus<N>

Information regarding activation and deactivation (sleeping) of this body.

fn activate_with_energy(&mut self, energy: N)

Force the activation of this body with the given level of energy.

fn deactivate(&mut self)

Put this body to sleep.

fn set_deactivation_threshold(&mut self, threshold: Option<N>)

Sets the energy bellow which this body is put to sleep.

fn set_status(&mut self, status: BodyStatus)

Set the status of this body.

fn status(&self) -> BodyStatus

The status of this body.

fn companion_id(&self) -> usize

The companion ID of this body.

fn set_companion_id(&mut self, id: usize)

Set the companion ID of this body (may be reinitialized by nphysics).

fn ndofs(&self) -> usize

The number of degrees of freedom of this body.

fn world_point_at_material_point( &self, part: &(dyn BodyPart<N> + 'static), point: &OPoint<N, Const<2>>, ) -> OPoint<N, Const<2>>

Transform the given point expressed in material coordinates to world-space.

fn position_at_material_point( &self, part: &(dyn BodyPart<N> + 'static), point: &OPoint<N, Const<2>>, ) -> Isometry<N, Unit<Complex<N>>, 2>

Transform the given point expressed in material coordinates to world-space.

fn material_point_at_world_point( &self, part: &(dyn BodyPart<N> + 'static), point: &OPoint<N, Const<2>>, ) -> OPoint<N, Const<2>>

Transform the given point expressed in material coordinates to world-space.

fn fill_constraint_geometry( &self, part: &(dyn BodyPart<N> + 'static), ndofs: usize, point: &OPoint<N, Const<2>>, force_dir: &ForceDirection<N>, j_id: usize, wj_id: usize, jacobians: &mut [N], inv_r: &mut N, ext_vels: Option<&Matrix<N, Dynamic, Const<1>, SliceStorage<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>>, out_vel: Option<&mut N>, )

Fills all the jacobians (and the jacobians multiplied by the inverse augmented mass matrix) for a constraint applying a force at the point center (relative to the body part’s center of mass) and the direction dir.

fn has_active_internal_constraints(&mut self) -> bool

Returns true if this bodies contains internal constraints that need to be solved.

fn setup_internal_velocity_constraints( &mut self, ext_vels: &Matrix<N, Dynamic, Const<1>, SliceStorage<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>, parameters: &IntegrationParameters<N>, )

Initializes the internal velocity constraints of a body.

fn warmstart_internal_velocity_constraints( &mut self, dvels: &mut Matrix<N, Dynamic, Const<1>, SliceStorageMut<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>, )

For warmstarting the solver, modifies the delta velocity applied by the internal constraints of this body.

fn step_solve_internal_velocity_constraints( &mut self, dvels: &mut Matrix<N, Dynamic, Const<1>, SliceStorageMut<'_, N, Dynamic, Const<1>, Const<1>, Dynamic>>, )

Execute one step for the iterative resolution of this body’s internal velocity constraints.

fn step_solve_internal_position_constraints( &mut self, parameters: &IntegrationParameters<N>, )

Execute one step for the iterative resolution of this body’s internal position constraints.

fn add_local_inertia_and_com( &mut self, part_id: usize, com: OPoint<N, Const<2>>, inertia: Inertia2<N>, )

Add the given inertia to the local inertia of this body part.

fn velocity_at_point( &self, part_id: usize, point: &OPoint<N, Const<2>>, ) -> Velocity2<N>

Gets the velocity of the given point of this body.

fn apply_force( &mut self, part_id: usize, force: &Force2<N>, force_type: ForceType, auto_wake_up: bool, )

Apply a force at the center of mass of a part of this body.

fn apply_local_force( &mut self, part_id: usize, force: &Force2<N>, force_type: ForceType, auto_wake_up: bool, )

Apply a local force at the center of mass of a part of this body.

fn apply_force_at_point( &mut self, part_id: usize, force: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, point: &OPoint<N, Const<2>>, force_type: ForceType, auto_wake_up: bool, )

Apply a force at a given point of a part of this body.

fn apply_local_force_at_point( &mut self, part_id: usize, force: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, point: &OPoint<N, Const<2>>, force_type: ForceType, auto_wake_up: bool, )

Apply a local force at a given point of a part of this body.

fn apply_force_at_local_point( &mut self, part_id: usize, force: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, point: &OPoint<N, Const<2>>, force_type: ForceType, auto_wake_up: bool, )

Apply a force at a given local point of a part of this body.

fn apply_local_force_at_local_point( &mut self, part_id: usize, force: &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, point: &OPoint<N, Const<2>>, force_type: ForceType, auto_wake_up: bool, )

Apply a local force at a given local point of a part of this body.

fn is_ground(&self) -> bool

Returns true if this body is the ground.

fn update_activation_status(&mut self)

Update whether this body needs to be waken up after a user-interaction.

fn advance(&mut self, _time_ratio: N)

fn validate_advancement(&mut self)

fn clamp_advancement(&mut self)

fn part_motion( &self, _part_id: usize, _time_origin: N, ) -> Option<BodyPartMotion<N>>

fn step_started(&mut self)

fn status_dependent_ndofs(&self) -> usize

The number of degrees of freedom (DOF) of this body, taking its status into account.

fn status_dependent_body_part_velocity( &self, part: &(dyn BodyPart<N> + 'static), ) -> Velocity2<N>

The velocity of the specified body part, taking this body status into account.

fn is_active(&self) -> bool

Check if this body is active.

fn is_dynamic(&self) -> bool

Whether or not the status of this body is dynamic.

fn is_kinematic(&self) -> bool

Whether or not the status of this body is kinematic.

fn is_static(&self) -> bool

Whether or not the status of this body is static.

fn activate(&mut self)

Force the activation of this body.