Struct rapier3d::dynamics::MultibodyJointSet

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pub struct MultibodyJointSet { /* private fields */ }

Expand description

A set of rigid bodies that can be handled by a physics pipeline.

Implementations

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impl MultibodyJointSet

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pub fn new() -> Self

Create a new empty set of multibodies.

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pub fn iter(
&self
) -> impl Iterator<Item = (MultibodyJointHandle, &Multibody, &MultibodyLink )>

Iterates through all the multibody joints from this set.

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pub fn insert(
 &mut self,
 body1: RigidBodyHandle,
 body2: RigidBodyHandle,
 data: impl Into<GenericJoint>
) -> Option<MultibodyJointHandle>

Inserts a new multibody_joint into this set.

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pub fn remove(
    &mut self,
    handle: MultibodyJointHandle,
    islands: &mut IslandManager,
    bodies: &mut RigidBodySet,
    wake_up: bool
)

Removes an multibody_joint from this set.

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pub fn remove_multibody_articulations(
    &mut self,
    handle: RigidBodyHandle,
    islands: &mut IslandManager,
    bodies: &mut RigidBodySet,
    wake_up: bool
)

Removes all the multibody_joints from the multibody the given rigid-body is part of.

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pub fn remove_joints_attached_to_rigid_body(
    &mut self,
    rb_to_remove: RigidBodyHandle,
    islands: &mut IslandManager,
    bodies: &mut RigidBodySet
)

Removes all the multibody joints attached to a rigid-body.

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pub fn rigid_body_link(
&self,
rb: RigidBodyHandle
) -> Option<&MultibodyJointLink>

Returns the link of this multibody attached to the given rigid-body.

Returns None if rb isn’t part of any rigid-body.

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pub fn get_multibody(&self, index: MultibodyIndex) -> Option<&Multibody>

Gets a reference to a multibody, based on its temporary index.

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pub fn get_multibody_mut_internal(
&mut self,
index: MultibodyIndex
) -> Option<&mut Multibody>

Gets a mutable reference to a multibody, based on its temporary index.

This method will bypass any modification-detection automatically done by the MultibodyJointSet.

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pub fn get(&self, handle: MultibodyJointHandle) -> Option<(&Multibody, usize )>

Gets a reference to the multibody identified by its handle.

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pub fn get_mut(
&mut self,
handle: MultibodyJointHandle
) -> Option<(&mut Multibody, usize )>

Gets a mutable reference to the multibody identified by its handle.

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pub fn get_mut_internal(
&mut self,
handle: MultibodyJointHandle
) -> Option<(&mut Multibody, usize )>

Gets a mutable reference to the multibody identified by its handle.

This method will bypass any modification-detection automatically done by the MultibodyJointSet.

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pub fn get_unknown_gen(
&self,
i: u32
) -> Option<(&Multibody, usize, MultibodyJointHandle )>

Gets the joint with the given handle without a known generation.

This is useful when you know you want the joint at index i but don’t know what is its current generation number. Generation numbers are used to protect from the ABA problem because the joint position i are recycled between two insertion and a removal.

Using this is discouraged in favor of self.get(handle) which does not suffer form the ABA problem.

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pub fn attached_bodies<'a>(
&'a self,
body: RigidBodyHandle
) -> impl Iterator<Item = RigidBodyHandle> + 'a

Iterate through the handles of all the rigid-bodies attached to this rigid-body by an multibody_joint.

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pub fn multibodies(&self) -> impl Iterator<Item = &Multibody>

Iterates through all the multibodies on this set.

Trait Implementations

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impl Clone for MultibodyJointSet

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fn clone(&self) -> MultibodyJointSet

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 MultibodyJointSet

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fn default() -> MultibodyJointSet

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

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impl Index<MultibodyIndex> for MultibodyJointSet

type Output = Multibody

The returned type after indexing.

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fn index(&self, index: MultibodyIndex) -> &Multibody

Performs the indexing (container[index]) operation. Read more

Auto Trait Implementations

impl RefUnwindSafe for MultibodyJointSet

impl Send for MultibodyJointSet

impl Sync for MultibodyJointSet

impl Unpin for MultibodyJointSet

impl UnwindSafe for MultibodyJointSet

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::MultibodyJointSet

Implementations

impl MultibodyJointSet

pub fn new() -> Self

pub fn iter( &self) -> impl Iterator<Item = (MultibodyJointHandle, &Multibody, &MultibodyLink)>

pub fn insert( &mut self, body1: RigidBodyHandle, body2: RigidBodyHandle, data: impl Into<GenericJoint>) -> Option<MultibodyJointHandle>

pub fn remove( &mut self, handle: MultibodyJointHandle, islands: &mut IslandManager, bodies: &mut RigidBodySet, wake_up: bool)

pub fn remove_multibody_articulations( &mut self, handle: RigidBodyHandle, islands: &mut IslandManager, bodies: &mut RigidBodySet, wake_up: bool)

pub fn remove_joints_attached_to_rigid_body( &mut self, rb_to_remove: RigidBodyHandle, islands: &mut IslandManager, bodies: &mut RigidBodySet)

pub fn rigid_body_link( &self, rb: RigidBodyHandle) -> Option<&MultibodyJointLink>

pub fn get_multibody(&self, index: MultibodyIndex) -> Option<&Multibody>

pub fn get_multibody_mut_internal( &mut self, index: MultibodyIndex) -> Option<&mut Multibody>

pub fn get(&self, handle: MultibodyJointHandle) -> Option<(&Multibody, usize)>

pub fn get_mut( &mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)>

pub fn get_mut_internal( &mut self, handle: MultibodyJointHandle) -> Option<(&mut Multibody, usize)>

pub fn get_unknown_gen( &self, i: u32) -> Option<(&Multibody, usize, MultibodyJointHandle)>

pub fn attached_bodies<'a>( &'a self, body: RigidBodyHandle) -> impl Iterator<Item = RigidBodyHandle> + 'a

pub fn multibodies(&self) -> impl Iterator<Item = &Multibody>

Trait Implementations

impl Clone for MultibodyJointSet

fn clone(&self) -> MultibodyJointSet

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

impl Default for MultibodyJointSet

fn default() -> MultibodyJointSet

impl Index<MultibodyIndex> for MultibodyJointSet

type Output = Multibody

fn index(&self, index: MultibodyIndex) -> &Multibody

Auto Trait Implementations

impl RefUnwindSafe for MultibodyJointSet

impl Send for MultibodyJointSet

impl Sync for MultibodyJointSet

impl Unpin for MultibodyJointSet

impl UnwindSafe for MultibodyJointSet

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 iter(
&self
) -> impl Iterator<Item = (MultibodyJointHandle, &Multibody, &MultibodyLink )>

pub fn insert(
&mut self,
body1: RigidBodyHandle,
body2: RigidBodyHandle,
data: impl Into<GenericJoint>
) -> Option<MultibodyJointHandle>

pub fn remove(
&mut self,
handle: MultibodyJointHandle,
islands: &mut IslandManager,
bodies: &mut RigidBodySet,
wake_up: bool
)

pub fn remove_multibody_articulations(
&mut self,
handle: RigidBodyHandle,
islands: &mut IslandManager,
bodies: &mut RigidBodySet,
wake_up: bool
)

pub fn remove_joints_attached_to_rigid_body(
&mut self,
rb_to_remove: RigidBodyHandle,
islands: &mut IslandManager,
bodies: &mut RigidBodySet
)

pub fn rigid_body_link(
&self,
rb: RigidBodyHandle
) -> Option<&MultibodyJointLink>

pub fn get_multibody_mut_internal(
&mut self,
index: MultibodyIndex
) -> Option<&mut Multibody>

pub fn get(&self, handle: MultibodyJointHandle) -> Option<(&Multibody, usize )>

pub fn get_mut(
&mut self,
handle: MultibodyJointHandle
) -> Option<(&mut Multibody, usize )>

pub fn get_mut_internal(
&mut self,
handle: MultibodyJointHandle
) -> Option<(&mut Multibody, usize )>

pub fn get_unknown_gen(
&self,
i: u32
) -> Option<(&Multibody, usize, MultibodyJointHandle )>

pub fn attached_bodies<'a>(
&'a self,
body: RigidBodyHandle
) -> impl Iterator<Item = RigidBodyHandle> + 'a

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>,