Struct physme::dim3::RigidBody

pub struct RigidBody {
    pub position: Vec3,
    pub rotation: Quat,
    pub linvel: Vec3,
    pub terminal: Vec3,
    pub angvel: Quat,
    pub ang_term: f32,
    pub status: Status,
    // some fields omitted
}

The rigid body.

Fields

position: Vec3

Current position of this rigid body.

rotation: Quat

Current rotation of this rigid body.

NOTE: collisions checks may or may not be broken if this is not a multiple of 90 degrees.

linvel: Vec3

Current linear velocity of this rigid body.

terminal: Vec3

The terminal linear velocity of a semikinematic body.

Defaults to f32::INFINITY.

angvel: Quat

Current angular velocity of this rigid body.

ang_term: f32

The terminal angular velocity of a semikinematic body.

Defaults to f32::INFINITY.

status: Status

The status, i.e. static or semikinematic.

Affects how forces and collisions affect this rigid body.

Implementations

impl RigidBody

pub fn new(mass: Mass) -> Self

Returns a new RigidBody with just a mass and all other components set to their defaults.

pub fn with_position(self, position: Vec3) -> Self

Returns a RigidBody identical to this one, but with the position set to a new one.

pub fn with_rotation(self, rotation: Quat) -> Self

Returns a RigidBody identical to this one, but with the rotation set to a new one.

pub fn with_linear_velocity(self, linvel: Vec3) -> Self

Returns a RigidBody identical to this one, but with the linear velocity set to a new one.

pub fn with_angular_velocity(self, angvel: Quat) -> Self

Returns a RigidBody identical to this one, but with the linear velocity set to a new one.

pub fn with_terminal(self, terminal: Vec3) -> Self

Returns a RigidBody identical to this one, but with the terminal linear velocity set to a new one.

pub fn with_angular_terminal(self, terminal: f32) -> Self

Returns a RigidBody identical to this one, but with the terminal linear velocity set to a new one.

pub fn with_acceleration(self, acceleration: Vec3) -> Self

Returns a RigidBody identical to this one, but with the acceleration set to a new one.

pub fn with_status(self, status: Status) -> Self

Returns a RigidBody identical to this one, but with the status set to a new one.

pub fn with_active(self, active: bool) -> Self

Returns a RigidBody identical to this one, but with the active flag set to a new one.

pub fn with_sensor(self, sensor: bool) -> Self

Returns a RigidBody identical to this one, but with the sensor flag set to a new one.

pub fn apply_linear_impulse(&mut self, impulse: Vec3)

Applies an impulse to the RigidBodys linear velocity.

pub fn apply_angular_impulse(&mut self, impulse: Quat)

Applies an impulse to the RigidBodys linear velocity.

pub fn apply_force(&mut self, force: Vec3)

Applies a force to the RigidBodys acceleration accumulator.

pub fn is_active(&self) -> bool

Gets the active flag.

pub fn is_sensor(&self) -> bool

Gets the sensor flag.

pub fn mass(&self) -> f32

Gets the mass

pub fn inverse_mass(&self) -> f32

Gets the mass

pub fn set_active(&mut self, active: bool)

Sets the active flag.

pub fn set_sensor(&mut self, sensor: bool)

Sets the sensor flag.

pub fn set_mass(&mut self, mass: Mass)

Sets the mass.

Trait Implementations

impl Clone for RigidBody

fn clone(&self) -> RigidBody

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for RigidBody

impl Debug for RigidBody

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

Formats the value using the given formatter.