Trait BodyPart 

pub trait BodyPart<N>:
    Downcast
    + Send
    + Sync
where
    N: RealField + Copy,
{
    // Required methods
    fn center_of_mass(&self) -> OPoint<N, Const<2>>;
    fn local_center_of_mass(&self) -> OPoint<N, Const<2>>;
    fn position(&self) -> Isometry<N, Unit<Complex<N>>, 2>;
    fn velocity(&self) -> Velocity2<N>;
    fn inertia(&self) -> Inertia2<N>;
    fn local_inertia(&self) -> Inertia2<N>;

    // Provided methods
    fn is_ground(&self) -> bool { ... }
    fn safe_position(&self) -> Isometry<N, Unit<Complex<N>>, 2> { ... }
}

Trait implemented by each part of a body supported by nphysics.

Required Methods

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

The position of this body part wrt. the ground.

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

The velocity of this body part.

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

The world-space inertia of this body part.

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

The local-space inertia of this body part.

Provided Methods

fn is_ground(&self) -> bool

Returns true if this body part is the ground.

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

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

Implementations

impl<N> dyn BodyPart<N>

where N: Any + 'static + RealField + Copy,

pub fn is<__T>(&self) -> bool

where __T: BodyPart<N>,

Returns true if the trait object wraps an object of type __T.

pub fn downcast<__T>( self: Box<dyn BodyPart<N>>, ) -> Result<Box<__T>, Box<dyn BodyPart<N>>>

where __T: BodyPart<N>,

Returns a boxed object from a boxed trait object if the underlying object is of type __T. Returns the original boxed trait if it isn’t.

pub fn downcast_rc<__T>( self: Rc<dyn BodyPart<N>>, ) -> Result<Rc<__T>, Rc<dyn BodyPart<N>>>

where __T: BodyPart<N>,

Returns an Rc-ed object from an Rc-ed trait object if the underlying object is of type __T. Returns the original Rc-ed trait if it isn’t.

pub fn downcast_ref<__T>(&self) -> Option<&__T>

where __T: BodyPart<N>,

Returns a reference to the object within the trait object if it is of type __T, or None if it isn’t.

pub fn downcast_mut<__T>(&mut self) -> Option<&mut __T>

where __T: BodyPart<N>,

Returns a mutable reference to the object within the trait object if it is of type __T, or None if it isn’t.

Dyn Compatibility

This trait is dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety".

Implementors

impl<N> BodyPart<N> for Ground<N>

where N: RealField + Copy,

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

where N: RealField + Copy,

impl<N> BodyPart<N> for RigidBody<N>

where N: RealField + Copy,