Function rhusics_core::next_frame_pose
source · pub fn next_frame_pose<'a, B, D, P, A, R>(data: D, dt: P::Scalar)where
D: Iterator<Item = (&'a NextFrame<Velocity<P::Diff, A>>, &'a B, &'a mut NextFrame<B>, &'a PhysicalEntity<P::Scalar>)>,
B: Pose<P, R> + 'a,
P: EuclideanSpace + 'a,
P::Scalar: BaseFloat,
P::Diff: VectorSpace + InnerSpace + 'a,
A: Mul<P::Scalar, Output = A> + Clone + Copy + Zero + 'a,
R: Rotation<P> + ApplyAngular<P::Scalar, A> + 'a,
Expand description
Compute next frame pose
Parameters:
data
: Iterator over tuple with:- Velocity for the next frame, used to compute next frame pose
- Pose for the current frame, will be updated
- Pose for the next frame, will be updated
dt
: Time step
Type parameters:
D
: Iterator typeP
: Point, usuallyPoint2
orPoint3
A
: Angular velocity, usuallyScalar
orVector3
R
: Rotational quantity, usuallyBasis2
orQuaternion