Struct BodyState 

pub struct BodyState {
    pub position: Vec2,
    pub velocity: Vec2,
    pub angle: f32,
    pub angular_velocity: f32,
    pub inv_mass: f32,
    pub inv_inertia: f32,
    pub impulse_accum: Vec2,
    pub torque_accum: f32,
}

Minimal state the solver needs from a rigid body.

Fields

position: Vec2

velocity: Vec2

angle: f32

angular_velocity: f32

inv_mass: f32

Inverse mass (0.0 for static bodies).

inv_inertia: f32

Inverse moment of inertia (0.0 for static).

impulse_accum: Vec2

Accumulated corrective impulse from constraints.

torque_accum: f32

Implementations

impl BodyState

pub fn new(position: Vec2, mass: f32, inertia: f32) -> Self

pub fn static_body(position: Vec2) -> Self

pub fn apply_impulse(&mut self, impulse: Vec2, contact_arm: Vec2)

pub fn apply_angular_impulse(&mut self, ang_impulse: f32)

pub fn is_static(&self) -> bool

pub fn kinetic_energy(&self) -> f32

Trait Implementations

impl Clone for BodyState

fn clone(&self) -> BodyState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for BodyState

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

Formats the value using the given formatter.