Struct parry3d::mass_properties::MassProperties [−][src]
pub struct MassProperties { pub local_com: Point<Real>, pub inv_mass: Real, pub inv_principal_inertia_sqrt: AngVector<Real>, pub principal_inertia_local_frame: Rotation<Real>, }
Expand description
The local mass properties of a rigid-body.
Fields
local_com: Point<Real>
Expand description
The center of mass of a rigid-body expressed in its local-space.
inv_mass: Real
Expand description
The inverse of the mass of a rigid-body.
If this is zero, the rigid-body is assumed to have infinite mass.
inv_principal_inertia_sqrt: AngVector<Real>
Expand description
The inverse of the principal angular inertia of the rigid-body.
Components set to zero are assumed to be infinite along the corresponding principal axis.
principal_inertia_local_frame: Rotation<Real>
Expand description
The principal vectors of the local angular inertia tensor of the rigid-body.
Implementations
impl MassProperties
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impl MassProperties
[src]pub fn new(
local_com: Point<Real>,
mass: Real,
principal_inertia: AngVector<Real>
) -> Self
[src]
pub fn new(
local_com: Point<Real>,
mass: Real,
principal_inertia: AngVector<Real>
) -> Self
[src]Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.
The center-of-mass is specified in the local-space of the rigid-body. The principal angular inertia are the angular inertia along the coordinate axes in the local-space of the rigid-body.
pub fn with_principal_inertia_frame(
local_com: Point<Real>,
mass: Real,
principal_inertia: AngVector<Real>,
principal_inertia_local_frame: Rotation<Real>
) -> Self
[src]
pub fn with_principal_inertia_frame(
local_com: Point<Real>,
mass: Real,
principal_inertia: AngVector<Real>,
principal_inertia_local_frame: Rotation<Real>
) -> Self
[src]Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.
The center-of-mass is specified in the local-space of the rigid-body.
The principal angular inertia are the angular inertia along the coordinate axes defined by
the principal_inertia_local_frame
expressed in the local-space of the rigid-body.
pub fn with_inertia_matrix(
local_com: Point<Real>,
mass: Real,
inertia: Matrix3<Real>
) -> Self
[src]
pub fn with_inertia_matrix(
local_com: Point<Real>,
mass: Real,
inertia: Matrix3<Real>
) -> Self
[src]Initialize a new MassProperties
from a given center-of-mass, mass, and angular inertia matrix.
The angular inertia matrix will be diagonalized in order to extract the principal inertia values and principal inertia frame.
pub fn world_com(&self, pos: &Isometry<Real>) -> Point<Real>
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pub fn world_com(&self, pos: &Isometry<Real>) -> Point<Real>
[src]The world-space center of mass of the rigid-body.
pub fn world_inv_inertia_sqrt(
&self,
rot: &Rotation<Real>
) -> AngularInertia<Real>
[src]
pub fn world_inv_inertia_sqrt(
&self,
rot: &Rotation<Real>
) -> AngularInertia<Real>
[src]The world-space inverse angular inertia tensor of the rigid-body.
pub fn reconstruct_inverse_inertia_matrix(&self) -> Matrix3<Real>
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pub fn reconstruct_inverse_inertia_matrix(&self) -> Matrix3<Real>
[src]Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axes.
pub fn reconstruct_inertia_matrix(&self) -> Matrix3<Real>
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pub fn reconstruct_inertia_matrix(&self) -> Matrix3<Real>
[src]Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axes.
pub fn transform_by(&self, m: &Isometry<Real>) -> Self
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pub fn transform_by(&self, m: &Isometry<Real>) -> Self
[src]Transform each element of the mass properties.
pub fn set_mass(&mut self, new_mass: Real, adjust_angular_inertia: bool)
[src]
pub fn set_mass(&mut self, new_mass: Real, adjust_angular_inertia: bool)
[src]Changes the mass on these mass-properties.
The adjust_angular_inertia
argument should always be true
, unless
there are some specific reasons not to do so. Setting this to true
will automatically adjust the angular inertia of self
to account
for the mass change (i.e. it will multiply the angular inertia by
new_mass / prev_mass
). Setting it to false
will not change the
current angular inertia.
impl MassProperties
[src]
impl MassProperties
[src]impl MassProperties
[src]
impl MassProperties
[src]impl MassProperties
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impl MassProperties
[src]pub fn from_compound(
density: Real,
shapes: &[(Isometry<Real>, SharedShape)]
) -> Self
[src]
pub fn from_compound(
density: Real,
shapes: &[(Isometry<Real>, SharedShape)]
) -> Self
[src]Computes the mass properties of a compound shape.
impl MassProperties
[src]
impl MassProperties
[src]impl MassProperties
[src]
impl MassProperties
[src]impl MassProperties
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impl MassProperties
[src]pub fn from_cuboid(density: Real, half_extents: Vector<Real>) -> Self
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pub fn from_cuboid(density: Real, half_extents: Vector<Real>) -> Self
[src]Computes the mass properties of a cuboid.
impl MassProperties
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impl MassProperties
[src]pub fn from_cylinder(density: Real, half_height: Real, radius: Real) -> Self
[src]
pub fn from_cylinder(density: Real, half_height: Real, radius: Real) -> Self
[src]Computes the mass properties of a cylinder.
Trait Implementations
impl AbsDiffEq<MassProperties> for MassProperties
[src]
impl AbsDiffEq<MassProperties> for MassProperties
[src]fn default_epsilon() -> Self::Epsilon
[src]
fn default_epsilon() -> Self::Epsilon
[src]The default tolerance to use when testing values that are close together. Read more
fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool
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fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool
[src]A test for equality that uses the absolute difference to compute the approximate equality of two numbers. Read more
fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool
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fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool
[src]The inverse of AbsDiffEq::abs_diff_eq
.
impl Add<MassProperties> for MassProperties
[src]
impl Add<MassProperties> for MassProperties
[src]type Output = Self
type Output = Self
The resulting type after applying the +
operator.
fn add(self, other: MassProperties) -> Self
[src]
fn add(self, other: MassProperties) -> Self
[src]Performs the +
operation. Read more
impl AddAssign<MassProperties> for MassProperties
[src]
impl AddAssign<MassProperties> for MassProperties
[src]fn add_assign(&mut self, rhs: MassProperties)
[src]
fn add_assign(&mut self, rhs: MassProperties)
[src]Performs the +=
operation. Read more
impl Clone for MassProperties
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impl Clone for MassProperties
[src]fn clone(&self) -> MassProperties
[src]
fn clone(&self) -> MassProperties
[src]Returns a copy of the value. Read more
fn clone_from(&mut self, source: &Self)
1.0.0[src]
fn clone_from(&mut self, source: &Self)
1.0.0[src]Performs copy-assignment from source
. Read more
impl Debug for MassProperties
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impl Debug for MassProperties
[src]impl PartialEq<MassProperties> for MassProperties
[src]
impl PartialEq<MassProperties> for MassProperties
[src]fn eq(&self, other: &MassProperties) -> bool
[src]
fn eq(&self, other: &MassProperties) -> bool
[src]This method tests for self
and other
values to be equal, and is used
by ==
. Read more
fn ne(&self, other: &MassProperties) -> bool
[src]
fn ne(&self, other: &MassProperties) -> bool
[src]This method tests for !=
.
impl RelativeEq<MassProperties> for MassProperties
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impl RelativeEq<MassProperties> for MassProperties
[src]fn default_max_relative() -> Self::Epsilon
[src]
fn default_max_relative() -> Self::Epsilon
[src]The default relative tolerance for testing values that are far-apart. Read more
fn relative_eq(
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
[src]
fn relative_eq(
&self,
other: &Self,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
[src]A test for equality that uses a relative comparison if the values are far apart.
fn relative_ne(
&self,
other: &Rhs,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
[src]
fn relative_ne(
&self,
other: &Rhs,
epsilon: Self::Epsilon,
max_relative: Self::Epsilon
) -> bool
[src]The inverse of RelativeEq::relative_eq
.
impl Sub<MassProperties> for MassProperties
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impl Sub<MassProperties> for MassProperties
[src]type Output = Self
type Output = Self
The resulting type after applying the -
operator.
fn sub(self, other: MassProperties) -> Self
[src]
fn sub(self, other: MassProperties) -> Self
[src]Performs the -
operation. Read more
impl SubAssign<MassProperties> for MassProperties
[src]
impl SubAssign<MassProperties> for MassProperties
[src]fn sub_assign(&mut self, rhs: MassProperties)
[src]
fn sub_assign(&mut self, rhs: MassProperties)
[src]Performs the -=
operation. Read more
impl Sum<MassProperties> for MassProperties
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impl Sum<MassProperties> for MassProperties
[src]impl Zero for MassProperties
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impl Zero for MassProperties
[src]impl Copy for MassProperties
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impl StructuralPartialEq for MassProperties
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Auto Trait Implementations
impl RefUnwindSafe for MassProperties
impl Send for MassProperties
impl Sync for MassProperties
impl Unpin for MassProperties
impl UnwindSafe for MassProperties
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
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impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
[src]
pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
[src]
impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]
impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
[src]
pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
[src]
pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
[src]
pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
[src]
pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
[src]
impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
[src]
pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
[src]
pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
Uses borrowed data to replace owned data, usually by cloning. Read more
impl<T, Right> ClosedAdd<Right> for T where
T: Add<Right, Output = T> + AddAssign<Right>,
[src]
T: Add<Right, Output = T> + AddAssign<Right>,
impl<T, Right> ClosedSub<Right> for T where
T: Sub<Right, Output = T> + SubAssign<Right>,
[src]
T: Sub<Right, Output = T> + SubAssign<Right>,