Struct rapier3d::dynamics::RigidBodyMassProps

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pub struct RigidBodyMassProps {
    pub flags: LockedAxes,
    pub local_mprops: MassProperties,
    pub additional_local_mprops: Option<Box<RigidBodyAdditionalMassProps>>,
    pub world_com: Point<Real>,
    pub effective_inv_mass: Vector<Real>,
    pub effective_world_inv_inertia_sqrt: AngularInertia<Real>,
}

Expand description

The mass properties of this rigid-bodies.

Fields

flags: LockedAxes

Flags for locking rotation and translation.

local_mprops: MassProperties

The local mass properties of the rigid-body.

additional_local_mprops: Option<Box<RigidBodyAdditionalMassProps>>

Mass-properties of this rigid-bodies, added to the contributions of its attached colliders.

world_com: Point<Real>

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

effective_inv_mass: Vector<Real>

The inverse mass taking into account translation locking.

effective_world_inv_inertia_sqrt: AngularInertia<Real>

The square-root of the world-space inverse angular inertia tensor of the rigid-body, taking into account rotation locking.

Implementations

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impl RigidBodyMassProps

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pub fn mass(&self) -> Real

The mass of the rigid-body.

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pub fn effective_mass(&self) -> Vector<Real>

The effective mass (that takes the potential translation locking into account) of this rigid-body.

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pub fn effective_angular_inertia(&self) -> AngularInertia<Real>

The effective world-space angular inertia (that takes the potential rotation locking into account) of this rigid-body.

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pub fn recompute_mass_properties_from_colliders(
 &mut self,
 colliders: &ColliderSet,
 attached_colliders: &RigidBodyColliders,
 position: &Isometry<Real>
)

Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.

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pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>)

Update the world-space mass properties of self, taking into account the new position.

Trait Implementations

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impl Clone for RigidBodyMassProps

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fn clone(&self) -> RigidBodyMassProps

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 Debug for RigidBodyMassProps

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl Default for RigidBodyMassProps

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fn default() -> Self

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

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impl From<LockedAxes> for RigidBodyMassProps

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fn from(flags: LockedAxes) -> Self

Converts to this type from the input type.

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impl From<MassProperties> for RigidBodyMassProps

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fn from(local_mprops: MassProperties) -> Self

Converts to this type from the input type.

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impl PartialEq<RigidBodyMassProps> for RigidBodyMassProps

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fn eq(&self, other: &RigidBodyMassProps) -> bool

This method tests for self and other values to be equal, and is used by ==. Read more

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fn ne(&self, other: &RigidBodyMassProps) -> bool

This method tests for !=.

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impl StructuralPartialEq for RigidBodyMassProps

Auto Trait Implementations

impl RefUnwindSafe for RigidBodyMassProps

impl Send for RigidBodyMassProps

impl Sync for RigidBodyMassProps

impl Unpin for RigidBodyMassProps

impl UnwindSafe for RigidBodyMassProps

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 + Send + Sync + '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::<T>()

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)

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.

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Struct rapier3d::dynamics::RigidBodyMassProps

Fields

Implementations

impl RigidBodyMassProps

pub fn mass(&self) -> Real

pub fn effective_mass(&self) -> Vector<Real>

pub fn effective_angular_inertia(&self) -> AngularInertia<Real>

pub fn recompute_mass_properties_from_colliders( &mut self, colliders: &ColliderSet, attached_colliders: &RigidBodyColliders, position: &Isometry<Real>)

pub fn update_world_mass_properties(&mut self, position: &Isometry<Real>)

Trait Implementations

impl Clone for RigidBodyMassProps

fn clone(&self) -> RigidBodyMassProps

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

impl Debug for RigidBodyMassProps

fn fmt(&self, f: &mut Formatter<'_>) -> Result

impl Default for RigidBodyMassProps

fn default() -> Self

impl From<LockedAxes> for RigidBodyMassProps

fn from(flags: LockedAxes) -> Self

impl From<MassProperties> for RigidBodyMassProps

fn from(local_mprops: MassProperties) -> Self

impl PartialEq<RigidBodyMassProps> for RigidBodyMassProps

fn eq(&self, other: &RigidBodyMassProps) -> bool

fn ne(&self, other: &RigidBodyMassProps) -> bool

impl StructuralPartialEq for RigidBodyMassProps

Auto Trait Implementations

impl RefUnwindSafe for RigidBodyMassProps

impl Send for RigidBodyMassProps

impl Sync for RigidBodyMassProps

impl Unpin for RigidBodyMassProps

impl UnwindSafe for RigidBodyMassProps

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 + Send + Sync + '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::<T>()

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>

impl<T> Scalar for T where T: 'static + Clone + PartialEq<T> + Debug,

pub fn recompute_mass_properties_from_colliders(
&mut self,
colliders: &ColliderSet,
attached_colliders: &RigidBodyColliders,
position: &Isometry<Real>
)

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>,

impl<T> Scalar for T where
T: 'static + Clone + PartialEq<T> + Debug,