Struct rapier3d::dynamics::Multibody

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pub struct Multibody { /* private fields */ }

Expand description

An articulated body simulated using the reduced-coordinates approach.

Implementations

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impl Multibody

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pub fn new() -> Self

Creates a new multibody with no link.

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pub fn inv_augmented_mass(&self) -> &LU<Real, Dynamic, Dynamic>

The inverse augmented mass matrix of this multibody.

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pub fn root(&self) -> &MultibodyLink

The first link of this multibody.

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pub fn root_mut(&mut self) -> &mut MultibodyLink

Mutable reference to the first link of this multibody.

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pub fn link(&self, id: usize) -> Option<&MultibodyLink>

Reference i-th multibody link of this multibody.

Return None if there is less than i + 1 multibody links.

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pub fn link_mut(&mut self, id: usize) -> Option<&mut MultibodyLink>

Mutable reference to the multibody link with the given id.

Return None if the given id does not identifies a multibody link part of self.

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pub fn num_links(&self) -> usize

The number of links on this multibody.

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pub fn links(&self) -> impl Iterator<Item = &MultibodyLink>

Iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

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pub fn links_mut(&mut self) -> impl Iterator<Item = &mut MultibodyLink>

Mutable iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

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pub fn damping(&self) -> &DVector<Real>

The vector of damping applied to this multibody.

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pub fn damping_mut(&mut self) -> &mut DVector<Real>

Mutable vector of damping applied to this multibody.

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pub fn generalized_acceleration(&self) -> DVectorSlice<'_, Real>

The generalized accelerations of this multibodies.

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pub fn generalized_velocity(&self) -> DVectorSlice<'_, Real>

The generalized velocities of this multibodies.

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pub fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<'_, Real>

The mutable generalized velocities of this multibodies.

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pub fn apply_displacements(&mut self, disp: &[Real ])

Apply displacements, in generalized coordinates, to this multibody.

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pub fn forward_kinematics(
    &mut self,
    bodies: &mut RigidBodySet,
    update_mass_props: bool
)

Apply forward-kinematics to this multibody and its related rigid-bodies.

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pub fn ndofs(&self) -> usize

The total number of freedoms of this multibody.

Trait Implementations

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impl Clone for Multibody

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fn clone(&self) -> Multibody

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Default for Multibody

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fn default() -> Self

Returns the “default value” for a type. Read more

Auto Trait Implementations

impl RefUnwindSafe for Multibody

impl Send for Multibody

impl Sync for Multibody

impl Unpin for Multibody

impl UnwindSafe for Multibody

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T where
T: Any,

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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

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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

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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

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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

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impl<T> DowncastSync for T where
T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Pointable for T

const ALIGN: usize = mem::align_of::()

The alignment of pointer.

type Init = T

The type for initializers.

unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

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impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

Struct rapier3d::dynamics::Multibody

Implementations

impl Multibody

pub fn new() -> Self

pub fn inv_augmented_mass(&self) -> &LU<Real, Dynamic, Dynamic>

pub fn root(&self) -> &MultibodyLink

pub fn root_mut(&mut self) -> &mut MultibodyLink

pub fn link(&self, id: usize) -> Option<&MultibodyLink>

pub fn link_mut(&mut self, id: usize) -> Option<&mut MultibodyLink>

pub fn num_links(&self) -> usize

pub fn links(&self) -> impl Iterator<Item = &MultibodyLink>

pub fn links_mut(&mut self) -> impl Iterator<Item = &mut MultibodyLink>

pub fn damping(&self) -> &DVector<Real>

pub fn damping_mut(&mut self) -> &mut DVector<Real>

pub fn generalized_acceleration(&self) -> DVectorSlice<'_, Real>

pub fn generalized_velocity(&self) -> DVectorSlice<'_, Real>

pub fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<'_, Real>

pub fn apply_displacements(&mut self, disp: &[Real])

pub fn forward_kinematics( &mut self, bodies: &mut RigidBodySet, update_mass_props: bool)

pub fn ndofs(&self) -> usize

Trait Implementations

impl Clone for Multibody

fn clone(&self) -> Multibody

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

impl Default for Multibody

fn default() -> Self

Auto Trait Implementations

impl RefUnwindSafe for Multibody

impl Send for Multibody

impl Sync for Multibody

impl Unpin for Multibody

impl UnwindSafe for Multibody

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> Downcast for T where T: Any,

fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

fn as_any(&self) -> &(dyn Any + 'static)

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

impl<T> DowncastSync for T where T: Any + Send + Sync,

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Pointable for T

const ALIGN: usize = mem::align_of::()

type Init = T

unsafe fn init(init: <T as Pointable>::Init) -> usize

unsafe fn deref<'a>(ptr: usize) -> &'a T

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

unsafe fn drop(ptr: usize)

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

pub fn apply_displacements(&mut self, disp: &[Real ])

pub fn forward_kinematics(
&mut self,
bodies: &mut RigidBodySet,
update_mass_props: bool
)

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T> Downcast for T where
T: Any,

impl<T> DowncastSync for T where
T: Any + Send + Sync,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,