Struct RigidBody 

pub struct RigidBody {

    pub position: Vec3,
    pub velocity: Vec3,
    pub angular_vel: Vec3,
    pub orientation: Quat,
    pub mass: f32,
    pub inv_mass: f32,
    pub inv_inertia_local: Mat3,
    pub force_accum: Vec3,
    pub torque_accum: Vec3,
    pub restitution: f32,
    pub friction: f32,
    pub linear_damping: f32,
    pub angular_damping: f32,
    pub sleep_state: SleepState,
    pub collision_group: u32,
    pub collision_mask: u32,
    pub tag: u32,
    pub shape: CollisionShape,
}

Full 3D rigid body.

Fields

position: Vec3

World-space position.

velocity: Vec3

Linear velocity.

angular_vel: Vec3

Angular velocity (world space, in rad/s around each axis).

orientation: Quat

Orientation quaternion.

mass: f32

Total mass (kg). 0 = static.

inv_mass: f32

Inverse mass (0 = static).

inv_inertia_local: Mat3

Inverse inertia tensor in local body space.

force_accum: Vec3

Accumulated forces this step (world space).

torque_accum: Vec3

Accumulated torques this step (world space).

restitution: f32

Coefficient of restitution.

friction: f32

Friction coefficient.

linear_damping: f32

Linear damping (0–1).

angular_damping: f32

Angular damping (0–1).

sleep_state: SleepState

Sleep / drowsy / awake state.

collision_group: u32

Collision group mask.

collision_mask: u32

Which groups this body collides with.

tag: u32

User tag.

shape: CollisionShape

Shape.

Implementations

impl RigidBody

pub fn dynamic(position: Vec3, mass: f32, shape: CollisionShape) -> Self

Create a dynamic rigid body.

pub fn static_body(position: Vec3, shape: CollisionShape) -> Self

Create a static rigid body (inv_mass = 0, won’t move).

pub fn is_static(&self) -> bool

pub fn is_sleeping(&self) -> bool

pub fn wake(&mut self)

Wake the body.

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

Apply a force at center of mass.

pub fn apply_torque(&mut self, torque: Vec3)

Apply a torque.

pub fn apply_force_at_point(&mut self, force: Vec3, world_point: Vec3)

Apply force at a world-space point (generates torque).

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

Apply an instantaneous linear impulse.

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

Apply an instantaneous angular impulse.

pub fn apply_impulse_at_point(&mut self, impulse: Vec3, world_point: Vec3)

Apply an impulse at a world-space point.

pub fn clear_forces(&mut self)

Clear accumulated forces and torques.

pub fn inv_inertia_world(&self) -> Mat3

Inverse inertia tensor in world space.

pub fn velocity_at_point(&self, world_point: Vec3) -> Vec3

Velocity at a world-space point on the body.

pub fn integrate(&mut self, dt: f32, gravity: Vec3)

Semi-implicit Euler integration.

pub fn kinetic_energy(&self) -> f32

Kinetic energy (linear + rotational).

Trait Implementations

impl Clone for RigidBody

fn clone(&self) -> RigidBody

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBody

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

Formats the value using the given formatter.