Struct RigidBodyState

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pub struct RigidBodyState {
    pub position: Array1<f64>,
    pub velocity: Array1<f64>,
    pub orientation: Array1<f64>,
    pub angular_velocity: Array1<f64>,
}

Expand description

Rigid body state representation

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§position: Array1<f64>

Position (3D vector)

§velocity: Array1<f64>

Velocity (3D vector)

§orientation: Array1<f64>

Orientation (quaternion: w, x, y, z)

§angular_velocity: Array1<f64>

Angular velocity (3D vector)

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impl RigidBodyState

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pub fn new( position: Array1<f64>, velocity: Array1<f64>, orientation: Array1<f64>, angular_velocity: Array1<f64>, ) -> Self

Create a new rigid body state

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pub fn kinetic_energy(&self, mass: f64, inertia: &Array2<f64>) -> f64

Get total kinetic energy

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pub fn normalize_quaternion(&mut self)

Normalize quaternion orientation

Trait Implementations§

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impl Clone for RigidBodyState

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fn clone(&self) -> RigidBodyState

Returns a duplicate of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for RigidBodyState

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl UnwindSafe for RigidBodyState

Blanket Implementations§

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more

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