Struct MultibodyLink 

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

One link of a multibody.

Implementations

impl<N> MultibodyLink<N>

where N: RealField + Copy,

pub fn new( internal_id: usize, assembly_id: usize, impulse_id: usize, parent_internal_id: usize, dof: Box<dyn Joint<N>>, parent_shift: Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, body_shift: Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>, parent_to_world: Isometry<N, Unit<Complex<N>>, 2>, local_to_world: Isometry<N, Unit<Complex<N>>, 2>, local_to_parent: Isometry<N, Unit<Complex<N>>, 2>, local_inertia: Inertia2<N>, local_com: OPoint<N, Const<2>>, ) -> MultibodyLink<N>

Creates a new multibody link.

pub fn is_root(&self) -> bool

Checks if this link is the root of the multibody.

pub fn joint(&self) -> &(dyn Joint<N> + 'static)

Reference to the joint attaching this link to its parent.

pub fn joint_mut(&mut self) -> &mut (dyn Joint<N> + 'static)

Mutable reference to the joint attaching this link to its parent.

pub fn parent_shift( &self, ) -> &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>

The shift between this link’s parent and this link joint origin.

pub fn body_shift( &self, ) -> &Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>

The shift between this link’s joint origin and this link origin.

pub fn name(&self) -> &str

This link’s name.

pub fn set_name(&mut self, name: String)

Sets this link’s name.

pub fn link_id(&self) -> usize

The handle of this multibody link.

pub fn parent_id(&self) -> Option<usize>

The handle of the parent link.

Trait Implementations

impl<N> BodyPart<N> for MultibodyLink<N>

where N: RealField + Copy,

fn is_ground(&self) -> bool

Returns true if this body part is the ground.

fn center_of_mass(&self) -> OPoint<N, Const<2>>

The center of mass of this body part.

fn local_center_of_mass(&self) -> OPoint<N, Const<2>>

The local center of mass of this body part.

fn velocity(&self) -> Velocity2<N>

The velocity of this body part.

fn position(&self) -> Isometry<N, Unit<Complex<N>>, 2>

The position of this body part wrt. the ground.

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

The local-space inertia of this body part.

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

The world-space inertia of this body part.

fn safe_position(&self) -> Isometry<N, Unit<Complex<N>>, 2>

If CCD is enabled, this is the last position known to be tunnelling-free.