Struct MassProperties3d

pub struct MassProperties3d {
    pub mass: f32,
    pub principal_angular_inertia: Vec3,
    pub local_inertial_frame: Quat,
    pub center_of_mass: Vec3,
}

The mass, angular inertia, and local center of mass of an object in 3D space.

Fields

mass: f32

The mass.

principal_angular_inertia: Vec3

The angular inertia along the principal axes defined by the local inertial frame.

local_inertial_frame: Quat

The orientation of the local inertial frame, defining the principal axes.

center_of_mass: Vec3

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

Implementations

impl MassProperties3d

pub const ZERO: Self = _

Zero mass and angular inertia.

pub fn new( mass: f32, principal_angular_inertia: Vec3, center_of_mass: Vec3, ) -> Self

Creates a new MassProperties3d from a given mass, principal angular inertia, and center of mass in local space.

pub fn new_with_local_frame( mass: f32, principal_angular_inertia: Vec3, local_inertial_frame: Quat, center_of_mass: Vec3, ) -> Self

Creates a new MassProperties3d from a given mass, principal angular inertia, local inertial frame, and center of mass in local space.

The principal angular inertia is the angular inertia along the coordinate axes defined by the local_inertial_frame, expressed in local space.

pub fn new_with_angular_inertia_tensor( mass: f32, tensor: impl Into<AngularInertiaTensor>, center_of_mass: Vec3, ) -> Self

Creates a new MassProperties3d from a given mass, angular inertia tensor, and center of mass in local space.

The angular inertia tensor will be diagonalized in order to extract the principal inertia values and local principal inertia frme.

pub fn from_point_cloud( points: &[Vec3], mass: f32, local_inertial_frame: Quat, ) -> 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<Isometry3d>) -> Vec3

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

pub fn unit_principal_angular_inertia(&self) -> Vec3

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

If the mass is zero, a zero vector is returned.

pub fn unit_angular_inertia_tensor(&self) -> AngularInertiaTensor

Computes the world-space angular inertia tensor corresponding to a mass of 1.0.

If the mass is zero, a zero tensor is returned.

pub fn angular_inertia_tensor(&self) -> AngularInertiaTensor

Computes the world-space angular inertia tensor from the principal inertia.

pub fn shifted_angular_inertia_tensor( &self, offset: Vec3, ) -> AngularInertiaTensor

Computes the angular inertia tensor at a given offset.

pub fn global_angular_inertia_tensor( &self, rotation: Quat, ) -> AngularInertiaTensor

Computes the world-space inverse angular inertia tensor with the square root of each element.

pub fn transformed_by(self, isometry: impl Into<Isometry3d>) -> Self

Returns the mass properties transformed by the given isometry.

pub fn transform_by(&mut self, isometry: impl Into<Isometry3d>)

Transforms the mass properties by the given isometry.

pub fn inverse(&self) -> Self

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

The center of mass and local inertial frame are 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 principal angular inertia will be scaled accordingly.

Trait Implementations

impl Add for MassProperties3d

type Output = MassProperties3d

The resulting type after applying the + operator.

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

Performs the + operation.

impl AddAssign for MassProperties3d

fn add_assign(&mut self, other: Self)

Performs the += operation.

impl Clone for MassProperties3d

fn clone(&self) -> MassProperties3d

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for MassProperties3d

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

Formats the value using the given formatter.

impl Default for MassProperties3d

fn default() -> Self

Returns the default MassProperties3d, with zero mass and angular inertia.

impl FromReflect for MassProperties3d

where MassProperties3d: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Quat: 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 MassProperties3d

where MassProperties3d: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Quat: 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 PartialEq for MassProperties3d

fn eq(&self, other: &MassProperties3d) -> 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 MassProperties3d

where MassProperties3d: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Quat: 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 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 debug(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Debug formatter for the value.

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 MassProperties3d

where MassProperties3d: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Quat: 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 MassProperties3d

where MassProperties3d: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Quat: 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 Sub for MassProperties3d

type Output = MassProperties3d

The resulting type after applying the - operator.

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

Performs the - operation.

impl SubAssign for MassProperties3d

fn sub_assign(&mut self, other: Self)

Performs the -= operation.

impl Sum for MassProperties3d

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 MassProperties3d

where MassProperties3d: 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 MassProperties3d

where MassProperties3d: Any + Send + Sync, f32: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vec3: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Quat: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for MassProperties3d

impl StructuralPartialEq for MassProperties3d