Struct rapier3d::dynamics::RigidBody

pub struct RigidBody {
    pub user_data: u128,
    // some fields omitted
}

A rigid body.

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

Fields

user_data: u128

User-defined data associated to this rigid-body.

Implementations

impl RigidBody

pub fn activation(&self) -> &RigidBodyActivation

The activation status of this rigid-body.

pub fn activation_mut(&mut self) -> &mut RigidBodyActivation

Mutable reference to the activation status of this rigid-body.

pub fn linear_damping(&self) -> Real

The linear damping coefficient of this rigid-body.

pub fn set_linear_damping(&mut self, damping: Real)

Sets the linear damping coefficient of this rigid-body.

pub fn angular_damping(&self) -> Real

The angular damping coefficient of this rigid-body.

pub fn set_angular_damping(&mut self, damping: Real)

Sets the angular damping coefficient of this rigid-body.

pub fn body_type(&self) -> RigidBodyType

The type of this rigid-body.

pub fn set_body_type(&mut self, status: RigidBodyType)

Sets the type of this rigid-body.

pub fn mass_properties(&self) -> &MassProperties

The mass properties of this rigid-body.

pub fn effective_dominance_group(&self) -> i16

The dominance group of this rigid-body.

This method always returns i8::MAX + 1 for non-dynamic rigid-bodies.

pub fn lock_rotations(&mut self, locked: bool, wake_up: bool)

Locks or unlocks all the rotations of this rigid-body.

pub fn restrict_rotations(
    &mut self,
    allow_rotations_x: bool,
    allow_rotations_y: bool,
    allow_rotations_z: bool,
    wake_up: bool
)

Locks or unlocks rotations of this rigid-body along each cartesian axes.

pub fn lock_translations(&mut self, locked: bool, wake_up: bool)

Locks or unlocks all the rotations of this rigid-body.

pub fn is_translation_locked(&self) -> bool

Are the translations of this rigid-body locked?

pub fn is_rotation_locked(&self) -> [bool; 3]

Returns true for each rotational degrees of freedom locked on this rigid-body.

pub fn enable_ccd(&mut self, enabled: bool)

Enables of disable CCD (continuous collision-detection) for this rigid-body.

pub fn is_ccd_enabled(&self) -> bool

Is CCD (continous collision-detection) enabled for this rigid-body?

pub fn is_ccd_active(&self) -> bool

Is CCD active for this rigid-body?

The CCD is considered active if the rigid-body is moving at a velocity greater than an automatically-computed threshold.

This is not the same as self.is_ccd_enabled which only checks if CCD is allowed to run for this rigid-body or if it is completely disabled (independently from its velocity).

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

Sets the rigid-body’s initial 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) -> Real

The mass of this rigid body.

Returns zero if this rigid body has an infinite mass.

pub fn next_position(&self) -> &Isometry<Real>

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 gravity_scale(&self) -> Real

The scale factor applied to the gravity affecting this rigid-body.

pub fn set_gravity_scale(&mut self, scale: Real, wake_up: bool)

Sets the gravity scale facter for this rigid-body.

pub fn dominance_group(&self) -> i8

The dominance group of this rigid-body.

pub fn set_dominance_group(&mut self, dominance: i8)

The dominance group of this rigid-body.

pub fn add_collider(
    &mut self,
    co_handle: ColliderHandle,
    co_parent: &ColliderParent,
    co_pos: &mut ColliderPosition,
    co_shape: &ColliderShape,
    co_mprops: &ColliderMassProps
)

Adds a collider to this rigid-body.

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<Real>

The linear velocity of this rigid-body.

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

The angular velocity of this rigid-body.

pub fn set_linvel(&mut self, linvel: Vector<Real>, 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<Real>, 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<Real>

The world-space position of this rigid-body.

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

The translational part of this rigid-body’s position.

pub fn set_translation(&mut self, translation: Vector<Real>, wake_up: bool)

Sets the translational part of this rigid-body’s position.

pub fn rotation(&self) -> &Rotation<Real>

The translational part of this rigid-body’s position.

pub fn set_rotation(&mut self, rotation: AngVector<Real>, wake_up: bool)

Sets the rotational part of this rigid-body’s position.

pub fn set_position(&mut self, pos: Isometry<Real>, 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_rotation(&mut self, rotation: AngVector<Real>)

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

pub fn set_next_kinematic_translation(&mut self, translation: Vector<Real>)

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

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

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

pub fn predict_position_using_velocity_and_forces(
    &self,
    dt: Real
) -> Isometry<Real>

Predicts the next position of this rigid-body, by integrating its velocity and forces by a time of dt.

impl RigidBody

Applying forces and torques

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

Applies a force at the center-of-mass of this rigid-body. The force will be applied in the next simulation step. This does nothing on non-dynamic bodies.

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

Applies a torque at the center-of-mass of this rigid-body. The torque will be applied in the next simulation step. This does nothing on non-dynamic bodies.

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

Applies a force at the given world-space point of this rigid-body. The force will be applied in the next simulation step. This does nothing on non-dynamic bodies.

impl RigidBody

Applying impulses and angular impulses

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

Applies an impulse at the center-of-mass of this rigid-body. The impulse is applied right away, changing the linear velocity. This does nothing on non-dynamic bodies.

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

Applies an angular impulse at the center-of-mass of this rigid-body. The impulse is applied right away, changing the angular velocity. This does nothing on non-dynamic bodies.

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

Applies an impulse at the given world-space point of this rigid-body. The impulse is applied right away, changing the linear and/or angular velocities. This does nothing on non-dynamic bodies.

impl RigidBody

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

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

pub fn kinetic_energy(&self) -> Real

The kinetic energy of this body.

pub fn gravitational_potential_energy(
    &self,
    dt: Real,
    gravity: Vector<Real>
) -> Real

The potential energy of this body in a gravity field.

Trait Implementations

impl Clone for RigidBody

fn clone(&self) -> RigidBody

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBody

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

Formats the value using the given formatter.