Struct rubullet::DynamicsInfo[−][src]

pub struct DynamicsInfo {
    pub mass: f64,
    pub lateral_friction: f64,
    pub spinning_friction: f64,
    pub rolling_friction: f64,
    pub restitution: f64,
    pub contact_stiffness_and_damping: Option<(f64, f64)>,
    pub local_inertia_diagonal: Vector3<f64>,
    pub local_inertial_pose: Isometry3<f64>,
    pub body_type: BodyType,
    pub collision_margin: f64,
}

Expand description

Contains information about the mass, center of mass, friction and other properties of the base and links. Is returned by get_dynamics_info.

Fields

mass: f64

mass in kg

lateral_friction: f64

lateral (linear) contact friction

spinning_friction: f64

spinning friction coefficient around contact normal

rolling_friction: f64

rolling friction coefficient orthogonal to contact normal

restitution: f64

coefficient of restitution (bouncyness of contact).

contact_stiffness_and_damping: Option<(f64, f64)>

The contact stiffness and contact damping of the link encoded as tuple (contact_stiffness, contact_damping). Is None if not available

local_inertia_diagonal: Vector3<f64>

diagonal elements of the inertia tensor. Note that the base and links are centered around the center of mass and aligned with the principal axes of inertia so there are no off-diagonal elements in the inertia tensor.

local_inertial_pose: Isometry3<f64>

of inertial frame in local coordinates of the joint frame

body_type: BodyType

body type of the object

collision_margin: f64

collision margin of the collision shape. collision margins depend on the shape type, it is not consistent.

Trait Implementations

impl Debug for DynamicsInfo[src]

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

Formats the value using the given formatter. Read more

impl From<b3DynamicsInfo> for DynamicsInfo[src]

fn from(b3: b3DynamicsInfo) -> Self[src]

Performs the conversion.

Auto Trait Implementations

impl RefUnwindSafe for DynamicsInfo

impl Send for DynamicsInfo

impl Sync for DynamicsInfo

impl Unpin for DynamicsInfo

impl UnwindSafe for DynamicsInfo

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized,

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pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized,

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pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized,

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pub fn borrow_mut(&mut self) -> &mut T[src]

Mutably borrows from an owned value. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>,

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pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Pointable for T

pub const ALIGN: usize

The alignment of pointer.

type Init = T

The type for initializers.

pub unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

pub unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

pub unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

pub fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

pub fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

pub fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T, U> TryFrom<U> for T where
    U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

Performs the conversion.

impl<V, T> VZip<V> for T where
    V: MultiLane<T>,

pub fn vzip(self) -> V