Struct MassProperties2d

pub struct MassProperties2d {
    pub mass: f32,
    pub angular_inertia: f32,
    pub center_of_mass: Vec2,
}

The mass, angular inertia, and local center of mass of an object in 2D space.

Fields

mass: f32

The mass.

angular_inertia: f32

The angular inertia along the principal axis.

center_of_mass: Vec2

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

Implementations

impl MassProperties2d

pub const ZERO: Self

Zero mass and angular inertia.

pub fn new(mass: f32, angular_inertia: f32, center_of_mass: Vec2) -> Self

Creates a new MassProperties2d from a given mass, principal angular inertia, and center of mass in local space.

pub fn from_point_cloud(points: &[Vec2], mass: f32) -> Self

Computes approximate mass properties from the given set of points representing a shape.

This can be used to estimate mass properties for arbitrary shapes by providing a set of sample points from inside the shape.

The more points there are, and the more uniformly distributed they are, the more accurate the estimation will be.

pub fn global_center_of_mass(&self, isometry: impl Into<Isometry2d>) -> Vec2

Returns the center of mass transformed into global space using the given isometry.

pub fn unit_angular_inertia(&self) -> f32

Computes the angular inertia corresponding to a mass of 1.0.

If the mass is zero, zero is returned.

pub fn shifted_angular_inertia(&self, offset: Vec2) -> f32

Computes the principal angular inertia at a given offset.

The shifted angular inertia is computed as angular_inertia + mass * offset.length_squared().

pub fn transformed_by(self, isometry: impl Into<Isometry2d>) -> Self

Returns the mass properties transformed by the given isometry.

pub fn transform_by(&mut self, isometry: impl Into<Isometry2d>)

Transforms the mass properties by the given isometry.

pub fn inverse(&self) -> Self

Returns the mass propeorties with the inverse of mass and angular inertia.

The center of mass is left unchanged.

pub fn set_mass(&mut self, new_mass: f32, update_angular_inertia: bool)

Sets the mass to the given new_mass.

If update_angular_inertia is true, the angular inertia will be scaled accordingly.

Trait Implementations

impl Add for MassProperties2d

type Output = MassProperties2d

The resulting type after applying the + operator.

fn add(self, other: Self) -> Self::Output

Performs the + operation.

impl AddAssign for MassProperties2d

fn add_assign(&mut self, other: Self)

Performs the += operation.

impl Clone for MassProperties2d

fn clone(&self) -> MassProperties2d

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MassProperties2d

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

Formats the value using the given formatter.

impl Default for MassProperties2d

fn default() -> Self

Returns the default MassProperties2d, with zero mass and angular inertia.

impl FromReflect for MassProperties2d

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 MassProperties2d

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 MassProperties2d

fn eq(&self, other: &MassProperties2d) -> 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 MassProperties2d

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

Returns the TypeInfo of the type represented by this value.

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 reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

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

Applies a reflected value to this value.

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

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_clone_and_take<T>(&self) -> Result<T, ReflectCloneError>

where T: 'static, Self: Sized + TypePath,

For a type implementing PartialReflect, combines reflect_clone and take in a useful fashion, automatically constructing an appropriate ReflectCloneError if the downcast fails.

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

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

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for MassProperties2d

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 MassProperties2d

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 to_dynamic_struct(&self) -> DynamicStruct

Creates a new DynamicStruct from this struct.

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

Will return None if TypeInfo is not available.

impl Sub for MassProperties2d

type Output = MassProperties2d

The resulting type after applying the - operator.

fn sub(self, other: Self) -> Self::Output

Performs the - operation.

impl SubAssign for MassProperties2d

fn sub_assign(&mut self, other: Self)

Performs the -= operation.

impl Sum for MassProperties2d

fn sum<I: Iterator<Item = Self>>(iter: I) -> Self

Takes an iterator and generates Self from the elements by “summing up” the items.

impl TypePath for MassProperties2d

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 MassProperties2d

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for MassProperties2d

impl StructuralPartialEq for MassProperties2d