Struct rhusics::physics::ForceAccumulator

pub struct ForceAccumulator<F, T> { /* fields omitted */ }

Force accumulator for a rigid body.

Will be consumed when doing force integration for the next frame.

Type parameters:

• F: Force type, usually Vector2 or Vector3
• T: Torque force, usually Scalar or Vector3

Methods

impl<F, T> ForceAccumulator<F, T> where
    F: VectorSpace + Zero,
    T: Zero + Copy + Clone, 

fn new() -> Self

Create a new force accumulator

fn add_force(&mut self, force: F)

Add a force vector to the accumulator

fn add_torque(&mut self, torque: T)

Add a torque vector to the accumulator

fn add_force_at_point<P, R>(
    &mut self,
    force: F,
    position: P,
    pose: &BodyPose<P, R>
) where
    P: EuclideanSpace<Scalar = F::Scalar, Diff = F>,
    P::Scalar: BaseFloat,
    R: Rotation<P>,
    F: PartialCrossProduct<F, Output = T>, 

Add a force on a given point on the body

If the force vector does not pass directly through the origin of the body, as expressed by the pose, torque will occur. Note that no validation is made on the given position to make sure it's actually contained in the shape of the body.

Parameters:

• force: Force to apply
• position: Position on the body to apply the force at.
• pose: Current pose of the body, used to compute the world coordinates of the body center of mass

fn consume_force(&mut self) -> F

Consume the accumulated force

Returns he current accumulated force. The force in the accumulator is reset.

fn consume_torque(&mut self) -> T

Consume the torque

Returns the current accumulated torque. The torque in the accumulator is reset.

Trait Implementations

impl<F: Debug, T: Debug> Debug for ForceAccumulator<F, T>

fn fmt(&self, __arg_0: &mut Formatter) -> Result

Formats the value using the given formatter.