Struct rapier3d::dynamics::RigidBodyForces
source · [−]pub struct RigidBodyForces {
pub force: Vector<Real>,
pub torque: AngVector<Real>,
pub gravity_scale: Real,
pub user_force: Vector<Real>,
pub user_torque: AngVector<Real>,
}
Expand description
The user-defined external forces applied to this rigid-body.
Fields
force: Vector<Real>
Accumulation of external forces (only for dynamic bodies).
torque: AngVector<Real>
Accumulation of external torques (only for dynamic bodies).
gravity_scale: Real
Gravity is multiplied by this scaling factor before it’s applied to this rigid-body.
user_force: Vector<Real>
Forces applied by the user.
user_torque: AngVector<Real>
Torque applied by the user.
Implementations
sourceimpl RigidBodyForces
impl RigidBodyForces
sourcepub fn integrate(
&self,
dt: Real,
init_vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> RigidBodyVelocity
pub fn integrate(
&self,
dt: Real,
init_vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> RigidBodyVelocity
Integrate these forces to compute new velocities.
sourcepub fn compute_effective_force_and_torque(
&mut self,
gravity: &Vector<Real>,
mass: &Vector<Real>
)
pub fn compute_effective_force_and_torque(
&mut self,
gravity: &Vector<Real>,
mass: &Vector<Real>
)
Adds to self
the gravitational force that would result in a gravitational acceleration
equal to gravity
.
sourcepub fn apply_force_at_point(
&mut self,
rb_mprops: &RigidBodyMassProps,
force: Vector<Real>,
point: Point<Real>
)
pub fn apply_force_at_point(
&mut self,
rb_mprops: &RigidBodyMassProps,
force: Vector<Real>,
point: Point<Real>
)
Applies a force at the given world-space point of the rigid-body with the given mass properties.
Trait Implementations
sourceimpl Clone for RigidBodyForces
impl Clone for RigidBodyForces
sourcefn clone(&self) -> RigidBodyForces
fn clone(&self) -> RigidBodyForces
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 RigidBodyForces
impl Debug for RigidBodyForces
sourceimpl Default for RigidBodyForces
impl Default for RigidBodyForces
sourceimpl PartialEq<RigidBodyForces> for RigidBodyForces
impl PartialEq<RigidBodyForces> for RigidBodyForces
sourcefn eq(&self, other: &RigidBodyForces) -> bool
fn eq(&self, other: &RigidBodyForces) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &RigidBodyForces) -> bool
fn ne(&self, other: &RigidBodyForces) -> bool
This method tests for !=
.
impl Copy for RigidBodyForces
impl StructuralPartialEq for RigidBodyForces
Auto Trait Implementations
impl RefUnwindSafe for RigidBodyForces
impl Send for RigidBodyForces
impl Sync for RigidBodyForces
impl Unpin for RigidBodyForces
impl UnwindSafe for RigidBodyForces
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.