Struct rapier3d::dynamics::RigidBody

pub struct RigidBody {
    pub world_com: Point<f32>,
    pub world_inv_inertia_sqrt: AngularInertia<f32>,
    pub linear_damping: f32,
    pub angular_damping: f32,
    pub activation: ActivationStatus,
    pub body_status: BodyStatus,
    pub user_data: u128,
    // some fields omitted
}

A rigid body.

To create a new rigid-body, use the RigidBodyBuilder structure.

Fields

world_com: Point<f32>

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

world_inv_inertia_sqrt: AngularInertia<f32>

The square-root of the inverse angular inertia tensor of the rigid-body.

linear_damping: f32

Damping factor for gradually slowing down the translational motion of the rigid-body.

angular_damping: f32

Damping factor for gradually slowing down the angular motion of the rigid-body.

activation: ActivationStatus

Whether or not this rigid-body is sleeping.

body_status: BodyStatus

The status of the body, governing how it is affected by external forces.

user_data: u128

User-defined data associated to this rigid-body.

Implementations

impl RigidBody

pub fn mass_properties(&self) -> &MassProperties

The mass properties of this rigid-body.

pub fn set_mass_properties(&mut self, props: MassProperties, wake_up: bool)

Sets the rigid-body's mass properties.

If wake_up is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.

pub fn colliders(&self) -> &[ColliderHandle]

The handles of colliders attached to this rigid body.

pub fn is_dynamic(&self) -> bool

Is this rigid body dynamic?

A dynamic body can move freely and is affected by forces.

pub fn is_kinematic(&self) -> bool

Is this rigid body kinematic?

A kinematic body can move freely but is not affected by forces.

pub fn is_static(&self) -> bool

Is this rigid body static?

A static body cannot move and is not affected by forces.

pub fn mass(&self) -> f32

The mass of this rigid body.

Returns zero if this rigid body has an infinite mass.

pub fn predicted_position(&self) -> &Isometry<f32>

The predicted position of this rigid-body.

If this rigid-body is kinematic this value is set by the set_next_kinematic_position method and is used for estimating the kinematic body velocity at the next timestep. For non-kinematic bodies, this value is currently unspecified.

pub fn sleep(&mut self)

Put this rigid body to sleep.

A sleeping body no longer moves and is no longer simulated by the physics engine unless it is waken up. It can be woken manually with self.wake_up or automatically due to external forces like contacts.

pub fn wake_up(&mut self, strong: bool)

Wakes up this rigid body if it is sleeping.

If strong is true then it is assured that the rigid-body will remain awake during multiple subsequent timesteps.

pub fn is_sleeping(&self) -> bool

Is this rigid body sleeping?

pub fn is_moving(&self) -> bool

Is the velocity of this body not zero?

pub fn linvel(&self) -> &Vector<f32>

The linear velocity of this rigid-body.

pub fn angvel(&self) -> &Vector<f32>

The angular velocity of this rigid-body.

pub fn set_linvel(&mut self, linvel: Vector<f32>, wake_up: bool)

The linear velocity of this rigid-body.

If wake_up is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.

pub fn set_angvel(&mut self, angvel: Vector<f32>, wake_up: bool)

The angular velocity of this rigid-body.

If wake_up is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.

pub fn position(&self) -> &Isometry<f32>

The world-space position of this rigid-body.

pub fn set_position(&mut self, pos: Isometry<f32>, wake_up: bool)

Sets the position and next_kinematic_position of this rigid body.

This will teleport the rigid-body to the specified position/orientation, completely ignoring any physics rule. If this body is kinematic, this will also set the next kinematic position to the same value, effectively resetting to zero the next interpolated velocity of the kinematic body.

If wake_up is true then the rigid-body will be woken up if it was put to sleep because it did not move for a while.

pub fn set_next_kinematic_position(&mut self, pos: Isometry<f32>)

If this rigid body is kinematic, sets its future position after the next timestep integration.

pub fn apply_force(&mut self, force: Vector<f32>, wake_up: bool)

Applies a force at the center-of-mass of this rigid-body.

pub fn apply_impulse(&mut self, impulse: Vector<f32>, wake_up: bool)

Applies an impulse at the center-of-mass of this rigid-body.

pub fn apply_torque(&mut self, torque: Vector<f32>, wake_up: bool)

Applies a torque at the center-of-mass of this rigid-body.

pub fn apply_torque_impulse(
    &mut self,
    torque_impulse: Vector<f32>,
    wake_up: bool
)

Applies an impulsive torque at the center-of-mass of this rigid-body.

pub fn apply_force_at_point(
    &mut self,
    force: Vector<f32>,
    point: Point<f32>,
    wake_up: bool
)

Applies a force at the given world-space point of this rigid-body.

pub fn apply_impulse_at_point(
    &mut self,
    impulse: Vector<f32>,
    point: Point<f32>,
    wake_up: bool
)

Applies an impulse at the given world-space point of this rigid-body.

pub fn velocity_at_point(&self, point: &Point<f32>) -> Vector<f32>

The velocity of the given world-space point on this rigid-body.

Trait Implementations

impl Clone for RigidBody

pub fn clone(&self) -> RigidBody

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBody

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

Formats the value using the given formatter.