Struct SpatialInertia 

#[repr(C)]
pub struct SpatialInertia<S> {
    pub mass: S,
    pub com: Vec3<S>,
    pub inertia: Mat3<S>,
}

Spatial inertia — compact representation.

Stored as mass + center of mass + rotational inertia (3x3). Converts to 6x6 spatial inertia matrix on demand.

Fields

mass: S

com: Vec3<S>

inertia: Mat3<S>

Implementations

impl<S: Scalar> SpatialInertia<S>

pub fn new(mass: S, com: Vec3<S>, inertia: Mat3<S>) -> Self

pub fn point_mass(mass: S, pos: Vec3<S>) -> Self

Point mass at a given position

pub fn rod(mass: S, length: S) -> Self

Uniform rod along Y axis

pub fn sphere(mass: S, radius: S) -> Self

Uniform solid sphere

pub fn to_matrix(&self) -> SpatialMat<S>

Convert to 6x6 spatial inertia matrix (block-structured)

| I + m[c]×[c]×^T    m[c]× |
| m[c]×^T             mE    |

pub fn transform(&self, xform: &SpatialTransform<S>) -> SpatialInertia<S>

Transform spatial inertia to a new reference frame

Trait Implementations

impl<S: Clone> Clone for SpatialInertia<S>

fn clone(&self) -> SpatialInertia<S>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<S: Debug> Debug for SpatialInertia<S>

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

Formats the value using the given formatter.

impl<S: PartialEq> PartialEq for SpatialInertia<S>

fn eq(&self, other: &SpatialInertia<S>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<S: Copy> Copy for SpatialInertia<S>

impl<S> StructuralPartialEq for SpatialInertia<S>