Struct oxygengine_physics_2d::prelude::algebra::Inertia2

pub struct Inertia2<N>where
    N: RealField + Copy,{
    pub linear: N,
    pub angular: N,
}

The inertia of a rigid body grouping both its mass and its angular inertia.

Fields

linear: N

The linear part (mass) of the inertia.

angular: N

The angular inertia.

Implementations

impl<N> Inertia2<N>where N: RealField + Copy,

pub fn new(linear: N, angular: N) -> Inertia2<N>

Creates an inertia from its linear and angular components.

pub fn new_with_angular_matrix( linear: N, angular: Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>> ) -> Inertia2<N>

Creates an inertia from its linear and angular components.

pub fn mass(&self) -> N

Get the mass.

pub fn inv_mass(&self) -> N

Get the inverse mass.

Returns 0.0 if the mass is 0.0.

pub fn zero() -> Inertia2<N>

Create a zero inertia.

pub fn angular_matrix( &self ) -> &Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>>

Get the angular inertia tensor.

pub fn to_matrix( &self ) -> Matrix<N, Const<nalgebra::::base::dimension::U3::{constant#0}>, Const<nalgebra::::base::dimension::U3::{constant#0}>, ArrayStorage<N, 3, 3>>

Convert the inertia into a matrix where the mass is represented as a 2x2 diagonal matrix on the upper-left corner, and the angular part as a 1x1 matrix on the lower-rigth corner.

pub fn transformed(&self, _: &Isometry<N, Unit<Complex<N>>, 2>) -> Inertia2<N>

Compute the inertia on the given coordinate frame.

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

Inverts this inetia matrix.

Sets the angular part to zero if it is not invertible.

Trait Implementations

impl<N> Add<Inertia2<N>> for Inertia2<N>where N: RealField + Copy,

type Output = Inertia2<N>

The resulting type after applying the + operator.

fn add(self, rhs: Inertia2<N>) -> Inertia2<N>

Performs the + operation.

impl<N> AddAssign<Inertia2<N>> for Inertia2<N>where N: RealField + Copy,

fn add_assign(&mut self, rhs: Inertia2<N>)

Performs the += operation.

impl<N> Clone for Inertia2<N>where N: Clone + RealField + Copy,

fn clone(&self) -> Inertia2<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> Debug for Inertia2<N>where N: Debug + RealField + Copy,

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

Formats the value using the given formatter.

impl<N> Mul<Force2<N>> for Inertia2<N>where N: RealField + Copy,

type Output = Velocity2<N>

The resulting type after applying the * operator.

fn mul(self, rhs: Force2<N>) -> Velocity2<N>

Performs the * operation.

impl<N> Mul<Velocity2<N>> for Inertia2<N>where N: RealField + Copy,

type Output = Force2<N>

The resulting type after applying the * operator.

fn mul(self, rhs: Velocity2<N>) -> Force2<N>

Performs the * operation.

impl<N> Neg for Inertia2<N>where N: RealField + Copy,

type Output = Inertia2<N>

The resulting type after applying the - operator.

fn neg(self) -> Inertia2<N>

Performs the unary - operation.

impl<N> Copy for Inertia2<N>where N: Copy + RealField,