Struct rapier3d::dynamics::RigidBodyPosition [−][src]
Expand description
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
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>
[src]
#[must_use]pub fn integrate_forces_and_velocities(
&self,
dt: Real,
forces: &RigidBodyForces,
vels: &RigidBodyVelocity,
mprops: &RigidBodyMassProps
) -> Isometry<Real>
[src]Compute new positions after integrating the given forces and velocities.
This uses a symplectic Euler integration scheme.
Trait Implementations
Set the value of this element.
fn map_mut_internal<Result>(
&mut self,
handle: Index,
f: impl FnOnce(&mut RigidBodyPosition) -> Result
) -> Option<Result>
[src]
fn map_mut_internal<Result>(
&mut self,
handle: Index,
f: impl FnOnce(&mut RigidBodyPosition) -> Result
) -> Option<Result>
[src]Applies the given closure to the element associated to the given handle
. Read more
Get the element associated to the given handle
, if there is one.
Auto Trait Implementations
impl RefUnwindSafe for RigidBodyPosition
impl Send for RigidBodyPosition
impl Sync for RigidBodyPosition
impl Unpin for RigidBodyPosition
impl UnwindSafe for RigidBodyPosition
Blanket Implementations
Mutably borrows from an owned value. Read more
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) to Box<dyn Any>
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Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
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Convert &Trait
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) to &Any
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Convert &mut Trait
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) to &Any
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type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
Checks if self
is actually part of its subset T
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Use with care! Same as self.to_subset
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The inclusion map: converts self
to the equivalent element of its superset.