Struct rubullet::SoftBodyOptions[−][src]

pub struct SoftBodyOptions {Show fields
    pub base_pose: Isometry3<f64>,
    pub scale: Option<f64>,
    pub mass: Option<f64>,
    pub collision_margin: Option<f64>,
    pub use_mass_spring: bool,
    pub use_bending_springs: bool,
    pub use_neo_hookean: bool,
    pub spring_elastic_stiffness: f64,
    pub spring_damping_stiffness: f64,
    pub spring_damping_all_directions: bool,
    pub spring_bending_stiffness: f64,
    pub neo_hookean_mu: f64,
    pub neo_hookean_lambda: f64,
    pub neo_hookean_damping: f64,
    pub friction_coeff: f64,
    pub use_face_contact: bool,
    pub use_self_collision: bool,
    pub repulsion_stiffness: Option<f64>,
    pub sim_filename: Option<PathBuf>,
}

Expand description

options for load_soft_body

Fields

base_pose: Isometry3<f64>

initial pose of the deformable object

scale: Option<f64>

scaling factor to resize the deformable (default = 1)

mass: Option<f64>

total mass of the deformable, the mass is equally distributed among all vertices

collision_margin: Option<f64>

a collision margin extends the deformable, it can help avoiding penetrations, especially for thin (cloth) deformables

use_mass_spring: bool

using mass spring

use_bending_springs: bool

create bending springs to control bending of deformables

use_neo_hookean: bool

enable the Neo Hookean simulation

spring_elastic_stiffness: f64

stiffness parameter

spring_damping_stiffness: f64

damping parameter

spring_damping_all_directions: bool

spring damping parameter

spring_bending_stiffness: f64

parameters of bending stiffness

neo_hookean_mu: f64

parameters of the Neo Hookean model

neo_hookean_lambda: f64

parameters of the Neo Hookean model

neo_hookean_damping: f64

parameters of the Neo Hookean model

friction_coeff: f64

contact friction for deformables

use_face_contact: bool

enable collisions internal to faces, not just at vertices.

use_self_collision: bool

enable self collision for a deformable

repulsion_stiffness: Option<f64>

a parameter that helps avoiding penetration.

sim_filename: Option<PathBuf>

Trait Implementations

impl Debug for SoftBodyOptions[src]

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

Formats the value using the given formatter. Read more

impl Default for SoftBodyOptions[src]

fn default() -> Self[src]

Returns the “default value” for a type. Read more

Auto Trait Implementations

impl RefUnwindSafe for SoftBodyOptions

impl Send for SoftBodyOptions

impl Sync for SoftBodyOptions

impl Unpin for SoftBodyOptions

impl UnwindSafe for SoftBodyOptions

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