Struct parry3d::query::NonlinearRigidMotion [−][src]
pub struct NonlinearRigidMotion { pub start: Isometry<Real>, pub local_center: Point<Real>, pub linvel: Vector<Real>, pub angvel: Vector<Real>, }
Expand description
A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.
Fields
start: Isometry<Real>
Expand description
The starting isometry at t = 0
.
local_center: Point<Real>
Expand description
The local-space point at which the rotational part of this motion is applied.
linvel: Vector<Real>
Expand description
The translational velocity of this motion.
angvel: Vector<Real>
Expand description
The angular velocity of this motion.
Implementations
impl NonlinearRigidMotion
[src]
impl NonlinearRigidMotion
[src]pub fn new(
start: Isometry<Real>,
local_center: Point<Real>,
linvel: Vector<Real>,
angvel: Vector<Real>
) -> Self
[src]
pub fn new(
start: Isometry<Real>,
local_center: Point<Real>,
linvel: Vector<Real>,
angvel: Vector<Real>
) -> Self
[src]Initialize a motion from a starting isometry and linear and angular velocities.
pub fn identity() -> Self
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pub fn identity() -> Self
[src]Create a NonlinearRigidMotion
that always returns the identity matrix.
pub fn constant_position(pos: Isometry<Real>) -> Self
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pub fn constant_position(pos: Isometry<Real>) -> Self
[src]Create a NonlinearRigidMotion
that always return pos
.
pub fn freeze(&mut self, t: Real)
[src]
pub fn freeze(&mut self, t: Real)
[src]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
[src]
#[must_use]pub fn append_translation(&self, tra: Vector<Real>) -> Self
[src]Appends a constant translation to this rigid-motion.
#[must_use]pub fn prepend_translation(&self, tra: Vector<Real>) -> Self
[src]
#[must_use]pub fn prepend_translation(&self, tra: Vector<Real>) -> Self
[src]Prepends a constant translation to this rigid-motion.
#[must_use]pub fn append(&self, iso: Isometry<Real>) -> Self
[src]
#[must_use]pub fn append(&self, iso: Isometry<Real>) -> Self
[src]Appends a constant isometry to this rigid-motion.
#[must_use]pub fn prepend(&self, iso: Isometry<Real>) -> Self
[src]
#[must_use]pub fn prepend(&self, iso: Isometry<Real>) -> Self
[src]Prepends a constant translation to this rigid-motion.
pub fn position_at_time(&self, t: Real) -> Isometry<Real>
[src]
pub fn position_at_time(&self, t: Real) -> Isometry<Real>
[src]Computes the position at time t
of a rigid-body following the motion described by self
.
Trait Implementations
impl Clone for NonlinearRigidMotion
[src]
impl Clone for NonlinearRigidMotion
[src]fn clone(&self) -> NonlinearRigidMotion
[src]
fn clone(&self) -> NonlinearRigidMotion
[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 NonlinearRigidMotion
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impl Debug for NonlinearRigidMotion
[src]impl Copy for NonlinearRigidMotion
[src]
Auto Trait Implementations
impl RefUnwindSafe for NonlinearRigidMotion
impl Send for NonlinearRigidMotion
impl Sync for NonlinearRigidMotion
impl Unpin for NonlinearRigidMotion
impl UnwindSafe for NonlinearRigidMotion
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
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,
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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>,
[src]
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
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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