Struct rapier3d::dynamics::RigidBodyPosition
source · [−]Expand description
The position of this rigid-body.
Fields
position: Isometry<Real>
The world-space position of the rigid-body.
next_position: Isometry<Real>
The next position of the rigid-body.
At the beginning of the timestep, and when the timestep is complete we must have position == next_position except for kinematic bodies.
The next_position is updated after the velocity and position resolution. Then it is either validated (ie. we set position := set_position) or clamped by CCD.
Implementations
sourceimpl RigidBodyPosition
impl RigidBodyPosition
sourcepub fn interpolate_velocity(
&self,
inv_dt: Real,
local_com: &Point<Real>
) -> RigidBodyVelocity
pub fn interpolate_velocity(
&self,
inv_dt: Real,
local_com: &Point<Real>
) -> RigidBodyVelocity
Computes the velocity need to travel from self.position
to self.next_position
in
a time equal to 1.0 / inv_dt
.
sourcepub fn integrate_forces_and_velocities(
&self,
dt: Real,
forces: &RigidBodyForces,
vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> Isometry<Real>
pub fn integrate_forces_and_velocities(
&self,
dt: Real,
forces: &RigidBodyForces,
vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> Isometry<Real>
Compute new positions after integrating the given forces and velocities.
This uses a symplectic Euler integration scheme.
Trait Implementations
sourceimpl Clone for RigidBodyPosition
impl Clone for RigidBodyPosition
sourcefn clone(&self) -> RigidBodyPosition
fn clone(&self) -> RigidBodyPosition
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
sourceimpl Debug for RigidBodyPosition
impl Debug for RigidBodyPosition
sourceimpl Default for RigidBodyPosition
impl Default for RigidBodyPosition
sourceimpl PartialEq<RigidBodyPosition> for RigidBodyPosition
impl PartialEq<RigidBodyPosition> for RigidBodyPosition
sourcefn eq(&self, other: &RigidBodyPosition) -> bool
fn eq(&self, other: &RigidBodyPosition) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &RigidBodyPosition) -> bool
fn ne(&self, other: &RigidBodyPosition) -> bool
This method tests for !=
.
impl Copy for RigidBodyPosition
impl StructuralPartialEq for RigidBodyPosition
Auto Trait Implementations
impl RefUnwindSafe for RigidBodyPosition
impl Send for RigidBodyPosition
impl Sync for RigidBodyPosition
impl Unpin for RigidBodyPosition
impl UnwindSafe for RigidBodyPosition
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