Struct rapier3d::dynamics::RigidBody

pub struct RigidBody {
    pub position: Isometry<f32>,
    pub mass_properties: MassProperties,
    pub world_com: Point<f32>,
    pub world_inv_inertia_sqrt: AngularInertia<f32>,
    pub linvel: Vector<f32>,
    pub angvel: AngVector<f32>,
    pub activation: ActivationStatus,
    pub body_status: BodyStatus,
    // some fields omitted
}

A rigid body.

To create a new rigid-body, use the RigidBodyBuilder structure.

Fields

position: Isometry<f32>

The world-space position of the rigid-body.

mass_properties: MassProperties

The local mass properties of the rigid-body.

world_com: Point<f32>

The world-space center of mass of the rigid-body.

world_inv_inertia_sqrt: AngularInertia<f32>

The square-root of the inverse angular inertia tensor of the rigid-body.

linvel: Vector<f32>

The linear velocity of the rigid-body.

angvel: AngVector<f32>

The angular velocity of the rigid-body.

activation: ActivationStatus

Whether or not this rigid-body is sleeping.

body_status: BodyStatus

The status of the body, governing how it is affected by external forces.

Implementations

impl RigidBody

pub fn colliders(&self) -> &[ColliderHandle]

The handles of colliders attached to this rigid body.

pub fn is_dynamic(&self) -> bool

Is this rigid body dynamic?

A dynamic body can move freely and is affected by forces.

pub fn is_kinematic(&self) -> bool

Is this rigid body kinematic?

A kinematic body can move freely but is not affected by forces.

pub fn is_static(&self) -> bool

Is this rigid body static?

A static body cannot move and is not affected by forces.

pub fn mass(&self) -> f32

The mass of this rigid body.

Returns zero if this rigid body has an infinite mass.

pub fn sleep(&mut self)

Put this rigid body to sleep.

A sleeping body no longer moves and is no longer simulated by the physics engine unless it is waken up. It can be woken manually with self.wake_up or automatically due to external forces like contacts.

pub fn wake_up(&mut self)

Wakes up this rigid body if it is sleeping.

pub fn is_sleeping(&self) -> bool

Is this rigid body sleeping?

pub fn set_position(&mut self, pos: Isometry<f32>)

Sets the position of this rigid body.

pub fn set_next_kinematic_position(&mut self, pos: Isometry<f32>)

If this rigid body is kinematic, sets its future position after the next timestep integration.

pub fn apply_force(&mut self, force: Vector<f32>)

Applies a force at the center-of-mass of this rigid-body.

pub fn apply_impulse(&mut self, impulse: Vector<f32>)

Applies an impulse at the center-of-mass of this rigid-body.

pub fn apply_torque(&mut self, torque: Vector<f32>)

Applies a torque at the center-of-mass of this rigid-body.

pub fn apply_torque_impulse(&mut self, torque_impulse: Vector<f32>)

Applies an impulsive torque at the center-of-mass of this rigid-body.

pub fn apply_force_at_point(&mut self, force: Vector<f32>, point: Point<f32>)

Applies a force at the given world-space point of this rigid-body.

pub fn apply_impulse_at_point(
    &mut self,
    impulse: Vector<f32>,
    point: Point<f32>
)

Applies an impulse at the given world-space point of this rigid-body.

Trait Implementations

impl Clone for RigidBody

fn clone(&self) -> Self

Returns a copy 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.