Struct parry3d::mass_properties::MassProperties

pub struct MassProperties {
    pub local_com: Point<Real>,
    pub inv_mass: Real,
    pub inv_principal_inertia_sqrt: AngVector<Real>,
    pub principal_inertia_local_frame: Rotation<Real>,
}

The local mass properties of a rigid-body.

Fields

local_com: Point<Real>

The center of mass of a rigid-body expressed in its local-space.

inv_mass: Real

The inverse of the mass of a rigid-body.

If this is zero, the rigid-body is assumed to have infinite mass.

inv_principal_inertia_sqrt: AngVector<Real>

The inverse of the principal angular inertia of the rigid-body.

The angular inertia is calculated relative to Self::local_com. Components set to zero are assumed to be infinite along the corresponding principal axis.

principal_inertia_local_frame: Rotation<Real>

The principal vectors of the local angular inertia tensor of the rigid-body.

Implementations

impl MassProperties

pub fn new( local_com: Point<Real>, mass: Real, principal_inertia: AngVector<Real> ) -> Self

Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.

The center-of-mass is specified in the local-space of the rigid-body. The principal angular inertia are the angular inertia along the coordinate axes in the local-space of the rigid-body.

pub fn with_principal_inertia_frame( local_com: Point<Real>, mass: Real, principal_inertia: AngVector<Real>, principal_inertia_local_frame: Rotation<Real> ) -> Self

Initializes the mass properties from the given center-of-mass, mass, and principal angular inertia.

The center-of-mass is specified in the local-space of the rigid-body. The principal angular inertia are the angular inertia along the coordinate axes defined by the principal_inertia_local_frame expressed in the local-space of the rigid-body.

pub fn with_inertia_matrix( local_com: Point<Real>, mass: Real, inertia: Matrix3<Real> ) -> Self

Initialize a new MassProperties from a given center-of-mass, mass, and angular inertia matrix.

The angular inertia matrix will be diagonalized in order to extract the principal inertia values and principal inertia frame.

pub fn mass(&self) -> Real

The mass.

pub fn principal_inertia(&self) -> AngVector<Real>

The angular inertia along the principal inertia axes and center of mass of the rigid-body.

pub fn world_com(&self, pos: &Isometry<Real>) -> Point<Real>

The world-space center of mass of the rigid-body.

pub fn world_inv_inertia_sqrt( &self, rot: &Rotation<Real> ) -> AngularInertia<Real>

The world-space inverse angular inertia tensor of the rigid-body.

pub fn reconstruct_inverse_inertia_matrix(&self) -> Matrix3<Real>

Reconstructs the inverse angular inertia tensor of the rigid body from its principal inertia values and axes.

pub fn reconstruct_inertia_matrix(&self) -> Matrix3<Real>

Reconstructs the angular inertia tensor of the rigid body from its principal inertia values and axes.

pub fn transform_by(&self, m: &Isometry<Real>) -> Self

Transform each element of the mass properties.

pub fn set_mass(&mut self, new_mass: Real, adjust_angular_inertia: bool)

Changes the mass on these mass-properties.

The adjust_angular_inertia argument should always be true, unless there are some specific reasons not to do so. Setting this to true will automatically adjust the angular inertia of self to account for the mass change (i.e. it will multiply the angular inertia by new_mass / prev_mass). Setting it to false will not change the current angular inertia.

impl MassProperties

pub fn from_ball(density: Real, radius: Real) -> Self

Computes the mass properties of a ball.

impl MassProperties

pub fn from_capsule( density: Real, a: Point<Real>, b: Point<Real>, radius: Real ) -> Self

Computes the mass properties of a capsule.

impl MassProperties

pub fn from_compound( density: Real, shapes: &[(Isometry<Real>, SharedShape)] ) -> Self

Computes the mass properties of a compound shape.

impl MassProperties

pub fn from_cone(density: Real, half_height: Real, radius: Real) -> Self

Computes the mass properties of a cone.

impl MassProperties

pub fn from_convex_polyhedron( density: Real, vertices: &[Point<Real>], indices: &[[u32; 3]] ) -> MassProperties

Computes the mass properties of a convex polyhedron.

impl MassProperties

pub fn from_cuboid(density: Real, half_extents: Vector<Real>) -> Self

Computes the mass properties of a cuboid.

impl MassProperties

pub fn from_cylinder(density: Real, half_height: Real, radius: Real) -> Self

Computes the mass properties of a cylinder.

impl MassProperties

pub fn from_trimesh( density: Real, vertices: &[Point<Real>], indices: &[[u32; 3]] ) -> MassProperties

Computes the mass properties of a triangle mesh.

Trait Implementations

impl AbsDiffEq for MassProperties

type Epsilon = f32

Used for specifying relative comparisons.

fn default_epsilon() -> Self::Epsilon

The default tolerance to use when testing values that are close together.

fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool

A test for equality that uses the absolute difference to compute the approximate equality of two numbers.

fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool

The inverse of AbsDiffEq::abs_diff_eq.

impl Add for MassProperties

type Output = MassProperties

The resulting type after applying the + operator.

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

Performs the + operation.

impl AddAssign for MassProperties

fn add_assign(&mut self, rhs: MassProperties)

Performs the += operation.

impl Clone for MassProperties

fn clone(&self) -> MassProperties

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for MassProperties

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

Formats the value using the given formatter.

impl Default for MassProperties

fn default() -> MassProperties

Returns the “default value” for a type.

impl PartialEq for MassProperties

fn eq(&self, other: &MassProperties) -> 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 RelativeEq for MassProperties

fn default_max_relative() -> Self::Epsilon

The default relative tolerance for testing values that are far-apart.

fn relative_eq( &self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon ) -> bool

A test for equality that uses a relative comparison if the values are far apart.

fn relative_ne( &self, other: &Rhs, epsilon: Self::Epsilon, max_relative: Self::Epsilon ) -> bool

The inverse of RelativeEq::relative_eq.

impl Sub for MassProperties

type Output = MassProperties

The resulting type after applying the - operator.

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

Performs the - operation.

impl SubAssign for MassProperties

fn sub_assign(&mut self, rhs: MassProperties)

Performs the -= operation.

impl Sum for MassProperties

fn sum<I>(iter: I) -> Self

where I: Iterator<Item = Self>,

Method which takes an iterator and generates Self from the elements by “summing up” the items.

impl Zero for MassProperties

fn zero() -> Self

Returns the additive identity element of Self, 0.

fn is_zero(&self) -> bool

Returns true if self is equal to the additive identity.

fn set_zero(&mut self)

Sets self to the additive identity element of Self, 0.

impl Copy for MassProperties

impl StructuralPartialEq for MassProperties