Struct parry3d::query::NonlinearRigidMotion
source · [−]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>
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: Vector<Real>
The angular velocity of this motion.
Implementations
sourceimpl NonlinearRigidMotion
impl NonlinearRigidMotion
sourcepub fn new(
start: Isometry<Real>,
local_center: Point<Real>,
linvel: Vector<Real>,
angvel: Vector<Real>
) -> Self
pub fn new(
start: Isometry<Real>,
local_center: Point<Real>,
linvel: Vector<Real>,
angvel: Vector<Real>
) -> Self
Initialize a motion from a starting isometry and linear and angular velocities.
sourcepub fn identity() -> Self
pub fn identity() -> Self
Create a NonlinearRigidMotion
that always returns the identity matrix.
sourcepub fn constant_position(pos: Isometry<Real>) -> Self
pub fn constant_position(pos: Isometry<Real>) -> Self
Create a NonlinearRigidMotion
that always return pos
.
sourcepub fn freeze(&mut self, t: Real)
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.
sourcepub fn append_translation(&self, tra: Vector<Real>) -> Self
pub fn append_translation(&self, tra: Vector<Real>) -> Self
Appends a constant translation to this rigid-motion.
sourcepub fn prepend_translation(&self, tra: Vector<Real>) -> Self
pub fn prepend_translation(&self, tra: Vector<Real>) -> Self
Prepends a constant translation to this rigid-motion.
sourcepub fn append(&self, iso: Isometry<Real>) -> Self
pub fn append(&self, iso: Isometry<Real>) -> Self
Appends a constant isometry to this rigid-motion.
sourcepub fn prepend(&self, iso: Isometry<Real>) -> Self
pub fn prepend(&self, iso: Isometry<Real>) -> Self
Prepends a constant translation to this rigid-motion.
sourcepub fn position_at_time(&self, t: Real) -> Isometry<Real>
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
sourceimpl Clone for NonlinearRigidMotion
impl Clone for NonlinearRigidMotion
sourcefn clone(&self) -> NonlinearRigidMotion
fn clone(&self) -> NonlinearRigidMotion
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl Debug for NonlinearRigidMotion
impl Debug for NonlinearRigidMotion
impl Copy for NonlinearRigidMotion
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
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more