Struct ComputedAngularInertia

pub struct ComputedAngularInertia { /* private fields */ }

The total local angular inertia computed for a dynamic rigid body as a 3x3 tensor matrix, taking into account colliders and descendants. Represents resistance to angular acceleration.

The total angular inertia is computed as the sum of the inertias of all attached colliders and the angular inertia of the rigid body entity itself, taking into account offsets from the center of mass. The angular inertia of an entity is determined by its AngularInertia component, or if it is not present, from an attached Collider based on its shape and mass.

This is computed in local space, so the object’s orientation is not taken into account. The world-space version is stored in GlobalAngularInertia, which is automatically recomputed whenever the local angular inertia or rotation is changed.

To manually compute the world-space version that takes the body’s rotation into account, use the associated rotated method.

A total angular inertia of zero is a special case, and is interpreted as infinite angular inertia, meaning the rigid body will not be affected by any torques.

Representation

Internally, the angular inertia is actually stored as the inverse angular inertia tensor angular_inertia_matrix.inverse(). This is because most physics calculations operate on the inverse angular inertia, and storing it directly allows for fewer inversions and guards against division by zero.

When using ComputedAngularInertia, you shouldn’t need to worry about this internal representation. The provided constructors and getters abstract away the implementation details.

In terms of performance, the main thing to keep in mind is that inverse is a no-op and value contains an inversion. When multiplying by the inverse angular inertia, it’s better to use angular_inertia.inverse() * foo than angular_inertia.value().inverse() * foo.

Related Types

• AngularInertia can be used to set the local angular inertia associated with an individual entity.
• GlobalAngularInertia stores the world-space angular inertia tensor, which is automatically recomputed whenever the local angular inertia or rotation is changed.
• ComputedMass stores the total mass of a rigid body, taking into account colliders and descendants.
• ComputedCenterOfMass stores the total center of mass of a rigid body, taking into account colliders and descendants.
• MassPropertyHelper is a SystemParam with utilities for computing and updating mass properties.

Implementations

impl ComputedAngularInertia

pub const INFINITY: Self = _

Infinite angular inertia.

pub fn new(principal_angular_inertia: Vector) -> Self

Creates a new ComputedAngularInertia from the given principal angular inertia.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes.

Note that this involves an invertion because ComputedAngularInertia internally stores the inverse angular inertia.

To specify the orientation of the local inertial frame, consider using ComputedAngularInertia::new_with_local_frame.

Panics

Panics if any component of the principal angular inertia is negative or NaN when debug_assertions are enabled.

pub fn try_new( principal_angular_inertia: Vector, ) -> Result<Self, AngularInertiaError>

Tries to create a new ComputedAngularInertia from the given principal angular inertia.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes. To specify the orientation of the local inertial frame, consider using ComputedAngularInertia::try_new_with_local_frame.

Note that this involves an invertion because ComputedAngularInertia internally stores the inverse angular inertia.

Errors

Returns Err(AngularInertiaError) if any component of the principal angular inertia is negative or NaN.

pub fn new_with_local_frame( principal_angular_inertia: Vector, orientation: Quaternion, ) -> Self

Creates a new ComputedAngularInertia from the given principal angular inertia and the orientation of the local inertial frame.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes defined by the given orientation.

Note that this involves an invertion because ComputedAngularInertia internally stores the inverse angular inertia.

Panics

Panics if any component of the principal angular inertia is negative or NaN when debug_assertions are enabled.

pub fn try_new_with_local_frame( principal_angular_inertia: Vector, orientation: Quaternion, ) -> Result<Self, AngularInertiaError>

Tries to create a new ComputedAngularInertia from the given principal angular inertia and the orientation of the local inertial frame.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes defined by the given orientation.

Note that this involves an invertion because ComputedAngularInertia internally stores the inverse angular inertia.

Errors

Returns Err(AngularInertiaError) if any component of the principal angular inertia is negative or NaN.

pub fn from_tensor(tensor: Matrix) -> Self

Creates a new ComputedAngularInertia from the given angular inertia tensor.

The tensor should be symmetric and positive definite.

Note that this involves an invertion because ComputedAngularInertia internally stores the inverse angular inertia.

pub fn from_inverse_tensor(inverse_tensor: Matrix) -> Self

Creates a new ComputedAngularInertia from the given inverse angular inertia tensor.

The tensor should be symmetric and positive definite.

pub fn value(self) -> Matrix

Returns the angular inertia tensor. If it is infinite, returns zero.

Note that this involves an invertion because ComputedAngularInertia internally stores the inverse angular inertia. If multiplying by the inverse angular inertia, consider using angular_inertia.inverse() * foo instead of angular_inertia.value().inverse() * foo.

Equivalent to ComputedAngularInertia::tensor.

pub fn inverse(self) -> Matrix

Returns the inverse of the angular inertia tensor.

Note that this is a no-op because ComputedAngularInertia internally stores the inverse angular inertia.

Equivalent to ComputedAngularInertia::inverse_tensor.

pub fn tensor(self) -> Matrix

Returns the angular inertia tensor.

Note that this involves an invertion because ComputedAngularInertia internally stores the inverse angular inertia. If multiplying by the inverse angular inertia, consider using angular_inertia.inverse() * foo instead of angular_inertia.value().inverse() * foo.

pub fn inverse_tensor(self) -> Matrix

Returns the inverse of the angular inertia tensor.

Note that this is a no-op because ComputedAngularInertia internally stores the inverse angular inertia.

pub fn inverse_tensor_mut(&mut self) -> &mut Matrix

Returns a mutable reference to the inverse of the angular inertia tensor.

Note that this is a no-op because ComputedAngularInertia internally stores the inverse angular inertia.

pub fn set(&mut self, angular_inertia: impl Into<ComputedAngularInertia>)

Sets the angular inertia tensor.

pub fn principal_angular_inertia_with_local_frame(&self) -> (Vector, Quaternion)

Computes the principal angular inertia and local inertial frame by diagonalizing the 3x3 tensor matrix.

The principal angular inertia represents the torque needed for a desired angular acceleration about the local coordinate axes defined by the local inertial frame.

pub fn rotated(self, rotation: Quaternion) -> Self

Computes the angular inertia tensor with the given rotation.

This can be used to transform local angular inertia to world space.

pub fn shifted_tensor(&self, mass: Scalar, offset: Vector) -> Matrix3

Computes the angular inertia tensor shifted by the given offset, taking into account the given mass.

pub fn shifted_inverse_tensor(&self, mass: Scalar, offset: Vector) -> Matrix3

Computes the inverse angular inertia tensor shifted by the given offset, taking into account the given mass.

pub fn is_finite(self) -> bool

Returns true if the angular inertia is neither infinite nor NaN.

pub fn is_infinite(self) -> bool

Returns true if the angular inertia is positive infinity or negative infinity.

pub fn is_nan(self) -> bool

Returns true if the angular inertia is NaN.

Trait Implementations

impl Clone for ComputedAngularInertia

fn clone(&self) -> ComputedAngularInertia

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Component for ComputedAngularInertia

where Self: Send + Sync + 'static,

const STORAGE_TYPE: StorageType = bevy::ecs::component::StorageType::Table

A constant indicating the storage type used for this component.

fn register_required_components( requiree: ComponentId, components: &mut Components, storages: &mut Storages, required_components: &mut RequiredComponents, inheritance_depth: u16, )

Registers required components.

fn register_component_hooks(hooks: &mut ComponentHooks)

Called when registering this component, allowing mutable access to its ComponentHooks.

impl Debug for ComputedAngularInertia

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

Formats the value using the given formatter.

impl Default for ComputedAngularInertia

fn default() -> Self

Returns the “default value” for a type.

impl From<AngularInertia> for ComputedAngularInertia

fn from(inertia: AngularInertia) -> Self

Converts to this type from the input type.

impl From<ComputedAngularInertia> for AngularInertia

fn from(inertia: ComputedAngularInertia) -> Self

Converts to this type from the input type.

impl From<ComputedAngularInertia> for GlobalAngularInertia

fn from(value: ComputedAngularInertia) -> Self

Converts to this type from the input type.

impl From<GlobalAngularInertia> for ComputedAngularInertia

fn from(inertia: GlobalAngularInertia) -> Self

Converts to this type from the input type.

impl From<Mat3> for ComputedAngularInertia

fn from(tensor: Matrix) -> Self

Converts to this type from the input type.

impl FromReflect for ComputedAngularInertia

where ComputedAngularInertia: Any + Send + Sync, Matrix: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for ComputedAngularInertia

where ComputedAngularInertia: Any + Send + Sync, Matrix: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl Mul<Vec3> for ComputedAngularInertia

type Output = Vec3

The resulting type after applying the * operator.

fn mul(self, rhs: Vector) -> Vector

Performs the * operation.

impl PartialEq for ComputedAngularInertia

fn eq(&self, other: &ComputedAngularInertia) -> 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 PartialReflect for ComputedAngularInertia

where ComputedAngularInertia: Any + Send + Sync, Matrix: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn clone_value(&self) -> Box<dyn PartialReflect>

Clones the value as a Reflect trait object.

fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&dyn Reflect>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value.

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

Returns a “partial equality” comparison result.

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

Debug formatter for the value.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for ComputedAngularInertia

where ComputedAngularInertia: Any + Send + Sync, Matrix: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn into_any(self: Box<Self>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl Struct for ComputedAngularInertia

where ComputedAngularInertia: Any + Send + Sync, Matrix: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn field(&self, name: &str) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field named name as a &dyn PartialReflect.

fn field_mut(&mut self, name: &str) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

fn field_at(&self, index: usize) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field with index index as a &dyn PartialReflect.

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl TypePath for ComputedAngularInertia

where ComputedAngularInertia: Any + Send + Sync,

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for ComputedAngularInertia

where ComputedAngularInertia: Any + Send + Sync, Matrix: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for ComputedAngularInertia

impl StructuralPartialEq for ComputedAngularInertia