Struct avian3d::dynamics::rigid_body::Inertia

pub struct Inertia(pub Matrix3);

The local moment of inertia of the body as a 3x3 tensor matrix. This represents the torque needed for a desired angular acceleration along different axes.

This is computed in local-space, so the object’s orientation is not taken into account.

To get the world-space version that takes the body’s rotation into account, use the associated rotated method. Note that this operation is quite expensive, so use it sparingly.

Tuple Fields

0: Matrix3

Implementations

impl Inertia

pub const ZERO: Self = _

Zero angular inertia.

pub fn rotated(&self, rot: &Rotation) -> Self

Returns the inertia tensor’s world-space version that takes the body’s orientation into account.

pub fn inverse(&self) -> InverseInertia

Returns the inverted moment of inertia.

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

Computes the inertia of a body with the given mass, shifted by the given offset.

Methods from Deref<Target = Matrix3>

pub const ZERO: Mat3 = _

pub const IDENTITY: Mat3 = _

pub const NAN: Mat3 = _

pub fn to_cols_array(&self) -> [f32; 9]

Creates a [f32; 9] array storing data in column major order. If you require data in row major order transpose the matrix first.

pub fn to_cols_array_2d(&self) -> [[f32; 3]; 3]

Creates a [[f32; 3]; 3] 3D array storing data in column major order. If you require data in row major order transpose the matrix first.

pub fn col(&self, index: usize) -> Vec3

Returns the matrix column for the given index.

Panics

Panics if index is greater than 2.

pub fn col_mut(&mut self, index: usize) -> &mut Vec3

Returns a mutable reference to the matrix column for the given index.

Panics

Panics if index is greater than 2.

pub fn row(&self, index: usize) -> Vec3

Returns the matrix row for the given index.

Panics

Panics if index is greater than 2.

pub fn is_finite(&self) -> bool

Returns true if, and only if, all elements are finite. If any element is either NaN, positive or negative infinity, this will return false.

pub fn is_nan(&self) -> bool

Returns true if any elements are NaN.

pub fn transpose(&self) -> Mat3

Returns the transpose of self.

pub fn determinant(&self) -> f32

Returns the determinant of self.

pub fn inverse(&self) -> Mat3

Returns the inverse of self.

If the matrix is not invertible the returned matrix will be invalid.

Panics

Will panic if the determinant of self is zero when glam_assert is enabled.

pub fn transform_point2(&self, rhs: Vec2) -> Vec2

Transforms the given 2D vector as a point.

This is the equivalent of multiplying rhs as a 3D vector where z is 1.

This method assumes that self contains a valid affine transform.

Panics

Will panic if the 2nd row of self is not (0, 0, 1) when glam_assert is enabled.

pub fn transform_vector2(&self, rhs: Vec2) -> Vec2

Rotates the given 2D vector.

This is the equivalent of multiplying rhs as a 3D vector where z is 0.

This method assumes that self contains a valid affine transform.

Panics

Will panic if the 2nd row of self is not (0, 0, 1) when glam_assert is enabled.

pub fn mul_vec3(&self, rhs: Vec3) -> Vec3

Transforms a 3D vector.

pub fn mul_vec3a(&self, rhs: Vec3A) -> Vec3A

Transforms a Vec3A.

pub fn mul_mat3(&self, rhs: &Mat3) -> Mat3

Multiplies two 3x3 matrices.

pub fn add_mat3(&self, rhs: &Mat3) -> Mat3

Adds two 3x3 matrices.

pub fn sub_mat3(&self, rhs: &Mat3) -> Mat3

Subtracts two 3x3 matrices.

pub fn mul_scalar(&self, rhs: f32) -> Mat3

Multiplies a 3x3 matrix by a scalar.

pub fn div_scalar(&self, rhs: f32) -> Mat3

Divides a 3x3 matrix by a scalar.

pub fn abs_diff_eq(&self, rhs: Mat3, max_abs_diff: f32) -> bool

Returns true if the absolute difference of all elements between self and rhs is less than or equal to max_abs_diff.

This can be used to compare if two matrices contain similar elements. It works best when comparing with a known value. The max_abs_diff that should be used used depends on the values being compared against.

For more see comparing floating point numbers.

pub fn abs(&self) -> Mat3

Takes the absolute value of each element in self

pub fn as_dmat3(&self) -> DMat3

Trait Implementations

impl Clone for Inertia

fn clone(&self) -> Inertia

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Component for Inertia

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_component_hooks(_hooks: &mut ComponentHooks)

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

impl Debug for Inertia

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

Formats the value using the given formatter.

impl Default for Inertia

fn default() -> Self

Returns the “default value” for a type.

impl Deref for Inertia

type Target = Mat3

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl DerefMut for Inertia

fn deref_mut(&mut self) -> &mut Self::Target

Mutably dereferences the value.

impl From<Inertia> for InverseInertia

fn from(inertia: Inertia) -> Self

Converts to this type from the input type.

impl From<Mat3> for Inertia

fn from(original: Matrix3) -> Inertia

Converts to this type from the input type.

impl FromReflect for Inertia

where Self: Any + Send + Sync, Matrix3: FromReflect + TypePath + RegisterForReflection,

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

Constructs a concrete instance of Self from a reflected value.

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

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

impl GetTypeRegistration for Inertia

where Self: Any + Send + Sync, Matrix3: FromReflect + TypePath + 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 PartialEq for Inertia

fn eq(&self, other: &Inertia) -> bool

This method tests for self and other values to be equal, and is used by ==.

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

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

impl Reflect for Inertia

where Self: Any + Send + Sync, Matrix3: FromReflect + TypePath + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value.

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 reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a reflected value.

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

Casts this type to a mutable reflected value.

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

Clones the value as a Reflect trait object.

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

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

fn try_apply(&mut self, value: &dyn Reflect) -> 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 reflect_partial_eq(&self, value: &dyn Reflect) -> 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 Reflect + '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 TupleStruct for Inertia

where Self: Any + Send + Sync, Matrix3: FromReflect + TypePath + RegisterForReflection,

fn field(&self, index: usize) -> Option<&dyn Reflect>

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

fn field_mut(&mut self, index: usize) -> Option<&mut dyn Reflect>

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

fn field_len(&self) -> usize

Returns the number of fields in the tuple struct.

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

Returns an iterator over the values of the tuple struct’s fields.

fn clone_dynamic(&self) -> DynamicTupleStruct

Clones the struct into a DynamicTupleStruct.

impl TypePath for Inertia

where Self: 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 Inertia

where Self: Any + Send + Sync, Matrix3: FromReflect + TypePath + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for Inertia

impl StructuralPartialEq for Inertia