Struct rapier3d::dynamics::RigidBodyPosition

pub struct RigidBodyPosition {
    pub position: Isometry<Real>,
    pub next_position: Isometry<Real>,
}

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

impl RigidBodyPosition

#[must_use]

pub fn interpolate_velocity(&self, inv_dt: Real) -> RigidBodyVelocity

Computes the velocity need to travel from self.position to self.next_position in a time equal to 1.0 / inv_dt.

#[must_use]

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

impl Clone for RigidBodyPosition

fn clone(&self) -> RigidBodyPosition

Returns a copy of the value.

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

Performs copy-assignment from source.

impl ComponentSet<RigidBodyPosition> for RigidBodySet

fn size_hint(&self) -> usize

The estimated number of elements in this set.

fn for_each(&self, f: impl FnMut(Index, &RigidBodyPosition))

Iterate through all the elements on this set.

fn index(&self, handle: Index) -> &T

Get the element associated to the given handle.

impl ComponentSetMut<RigidBodyPosition> for RigidBodySet

fn set_internal(&mut self, handle: Index, val: RigidBodyPosition)

Set the value of this element.

fn map_mut_internal<Result>(
    &mut self,
    handle: Index,
    f: impl FnOnce(&mut RigidBodyPosition) -> Result
) -> Option<Result>

Applies the given closure to the element associated to the given handle.

impl ComponentSetOption<RigidBodyPosition> for RigidBodySet

fn get(&self, handle: Index) -> Option<&RigidBodyPosition>

Get the element associated to the given handle, if there is one.

impl Debug for RigidBodyPosition

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

Formats the value using the given formatter.

impl Default for RigidBodyPosition

fn default() -> Self

Returns the “default value” for a type.

impl<T> From<T> for RigidBodyPosition where
    Isometry<Real>: From<T>, 

fn from(position: T) -> Self

Performs the conversion.

impl Copy for RigidBodyPosition