Struct parry2d::query::NonlinearRigidMotion

pub struct NonlinearRigidMotion {
    pub start: Isometry<Real>,
    pub local_center: Point<Real>,
    pub linvel: Vector<Real>,
    pub angvel: Real,
}

A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.

Fields

start: Isometry<Real>

The starting isometry at t = 0.

local_center: Point<Real>

The local-space point at which the rotational part of this motion is applied.

linvel: Vector<Real>

The translational velocity of this motion.

angvel: Real

The angular velocity of this motion.

Implementations

impl NonlinearRigidMotion

pub fn new(
    start: Isometry<Real>,
    local_center: Point<Real>,
    linvel: Vector<Real>,
    angvel: Real
) -> Self

Initialize a motion from a starting isometry and linear and angular velocities.

pub fn identity() -> Self

Create a NonlinearRigidMotion that always returns the identity matrix.

pub fn constant_position(pos: Isometry<Real>) -> Self

Create a NonlinearRigidMotion that always return pos.

pub fn freeze(&mut self, t: Real)

Freezes this motion at the time t.

After calling this, any further calls to self.position_at_time will always return self.position_at_time(t) (where t is the value given to this method). This sets the linear velocity and angular velocity of self to zero.

#[must_use]pub fn append_translation(&self, tra: Vector<Real>) -> Self

Appends a constant translation to this rigid-motion.

#[must_use]pub fn prepend_translation(&self, tra: Vector<Real>) -> Self

Prepends a constant translation to this rigid-motion.

#[must_use]pub fn append(&self, iso: Isometry<Real>) -> Self

Appends a constant isometry to this rigid-motion.

#[must_use]pub fn prepend(&self, iso: Isometry<Real>) -> Self

Prepends a constant translation to this rigid-motion.

pub fn position_at_time(&self, t: Real) -> Isometry<Real>

Computes the position at time t of a rigid-body following the motion described by self.

Trait Implementations

impl Clone for NonlinearRigidMotion

fn clone(&self) -> NonlinearRigidMotion

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for NonlinearRigidMotion

impl Debug for NonlinearRigidMotion

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

Formats the value using the given formatter.