Struct rapier2d::dynamics::MultibodyLink
source · [−]pub struct MultibodyLink {
pub joint: MultibodyJoint,
/* private fields */
}
Expand description
One link of a multibody.
Fields
joint: MultibodyJoint
The multibody joint of this link.
Implementations
sourceimpl MultibodyLink
impl MultibodyLink
sourcepub fn new(
rigid_body: RigidBodyHandle,
internal_id: usize,
assembly_id: usize,
parent_internal_id: usize,
joint: MultibodyJoint,
local_to_world: Isometry<Real>,
local_to_parent: Isometry<Real>
) -> Self
pub fn new(
rigid_body: RigidBodyHandle,
internal_id: usize,
assembly_id: usize,
parent_internal_id: usize,
joint: MultibodyJoint,
local_to_world: Isometry<Real>,
local_to_parent: Isometry<Real>
) -> Self
Creates a new multibody link.
sourcepub fn joint(&self) -> &MultibodyJoint
pub fn joint(&self) -> &MultibodyJoint
The multibody joint of this link.
sourcepub fn rigid_body_handle(&self) -> RigidBodyHandle
pub fn rigid_body_handle(&self) -> RigidBodyHandle
The handle of the rigid-body of this link.
sourcepub fn local_to_world(&self) -> &Isometry<Real>
pub fn local_to_world(&self) -> &Isometry<Real>
The world-space transform of the rigid-body attached to this link.
sourcepub fn local_to_parent(&self) -> &Isometry<Real>
pub fn local_to_parent(&self) -> &Isometry<Real>
The position of the rigid-body attached to this link relative to its parent.
Trait Implementations
sourceimpl Clone for MultibodyLink
impl Clone for MultibodyLink
sourcefn clone(&self) -> MultibodyLink
fn clone(&self) -> MultibodyLink
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
Auto Trait Implementations
impl RefUnwindSafe for MultibodyLink
impl Send for MultibodyLink
impl Sync for MultibodyLink
impl Unpin for MultibodyLink
impl UnwindSafe for MultibodyLink
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,
impl<T> Pointable for T
impl<T> Pointable for T
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