Trait ComputeMassProperties3d 

pub trait ComputeMassProperties3d {
    // Required methods
    fn mass(&self, density: f32) -> f32;
    fn unit_principal_angular_inertia(&self) -> Vec3;
    fn center_of_mass(&self) -> Vec3;

    // Provided methods
    fn principal_angular_inertia(&self, mass: f32) -> Vec3 { ... }
    fn local_inertial_frame(&self) -> Quat { ... }
    fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor { ... }
    fn angular_inertia_tensor(&self, mass: f32) -> AngularInertiaTensor { ... }
    fn mass_properties(&self, density: f32) -> MassProperties3d { ... }
}

A trait for computing MassProperties3d for 3D objects.

For the 2D equivalent, see ComputeMassProperties2d.

Required Methods

fn mass(&self, density: f32) -> f32

Computes the mass of the object with a given density.

fn unit_principal_angular_inertia(&self) -> Vec3

Computes the principal angular inertia corresponding to a mass of 1.0.

fn center_of_mass(&self) -> Vec3

Computes the local center of mass relative to the object’s origin.

Provided Methods

fn principal_angular_inertia(&self, mass: f32) -> Vec3

Computes the principal angular inertia corresponding to the given mass.

Equivalent to mass * shape.unit_principal_angular_inertia().

fn local_inertial_frame(&self) -> Quat

Computes the orientation of the inertial frame used by the principal axes of inertia in local space.

For most primitive shapes, this returns an identity quaternion, which means that the principal axes are aligned with the object’s XYZ axes.

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

Computes the 3x3 AngularInertiaTensor corresponding to a mass of 1.0.

fn angular_inertia_tensor(&self, mass: f32) -> AngularInertiaTensor

Computes the 3x3 AngularInertiaTensor corresponding to the given mass.

fn mass_properties(&self, density: f32) -> MassProperties3d

Computes the MassProperties3d with a given density.

Implementations on Foreign Types

impl ComputeMassProperties3d for Capsule3d

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

fn mass_properties(&self, density: f32) -> MassProperties3d

impl ComputeMassProperties3d for Cone

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

impl ComputeMassProperties3d for ConicalFrustum

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

fn mass_properties(&self, density: f32) -> MassProperties3d

impl ComputeMassProperties3d for Cuboid

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

impl ComputeMassProperties3d for Cylinder

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

impl ComputeMassProperties3d for Line3d

fn mass(&self, _density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn principal_angular_inertia(&self, _mass: f32) -> Vec3

fn local_inertial_frame(&self) -> Quat

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn angular_inertia_tensor(&self, _mass: f32) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

fn mass_properties(&self, _density: f32) -> MassProperties3d

impl ComputeMassProperties3d for Plane3d

fn mass(&self, _density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn principal_angular_inertia(&self, _mass: f32) -> Vec3

fn local_inertial_frame(&self) -> Quat

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn angular_inertia_tensor(&self, _mass: f32) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

fn mass_properties(&self, _density: f32) -> MassProperties3d

impl ComputeMassProperties3d for Polyline3d

fn mass(&self, _density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn principal_angular_inertia(&self, _mass: f32) -> Vec3

fn local_inertial_frame(&self) -> Quat

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn angular_inertia_tensor(&self, _mass: f32) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

fn mass_properties(&self, _density: f32) -> MassProperties3d

impl ComputeMassProperties3d for Segment3d

fn mass(&self, _density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn principal_angular_inertia(&self, _mass: f32) -> Vec3

fn local_inertial_frame(&self) -> Quat

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn angular_inertia_tensor(&self, _mass: f32) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

fn mass_properties(&self, _density: f32) -> MassProperties3d

impl ComputeMassProperties3d for Sphere

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

impl ComputeMassProperties3d for Tetrahedron

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn local_inertial_frame(&self) -> Quat

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

fn mass_properties(&self, density: f32) -> MassProperties3d

impl ComputeMassProperties3d for Torus

fn mass(&self, density: f32) -> f32

fn unit_principal_angular_inertia(&self) -> Vec3

fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

fn center_of_mass(&self) -> Vec3

Implementors

impl ComputeMassProperties3d for Collider

Available on crate feature 3d only.