Struct parry3d::query::details::NonlinearRigidMotion
source · pub struct NonlinearRigidMotion {
pub start: Isometry<Real>,
pub local_center: Point<Real>,
pub linvel: Vector<Real>,
pub angvel: Vector<Real>,
}
Expand description
A nonlinear motion from a starting isometry traveling at constant translational and rotational velocity.
Fields§
§start: Isometry<Real>
The starting isometry at t = 0
.
local_center: Point<Real>
The local-space point at which the rotational part of this motion is applied.
linvel: Vector<Real>
The translational velocity of this motion.
angvel: Vector<Real>
The angular velocity of this motion.
Implementations§
source§impl NonlinearRigidMotion
impl NonlinearRigidMotion
sourcepub fn new(
start: Isometry<Real>,
local_center: Point<Real>,
linvel: Vector<Real>,
angvel: Vector<Real>
) -> Self
pub fn new( start: Isometry<Real>, local_center: Point<Real>, linvel: Vector<Real>, angvel: Vector<Real> ) -> Self
Initialize a motion from a starting isometry and linear and angular velocities.
sourcepub fn identity() -> Self
pub fn identity() -> Self
Create a NonlinearRigidMotion
that always returns the identity matrix.
sourcepub fn constant_position(pos: Isometry<Real>) -> Self
pub fn constant_position(pos: Isometry<Real>) -> Self
Create a NonlinearRigidMotion
that always return pos
.
sourcepub fn freeze(&mut self, t: Real)
pub fn freeze(&mut self, t: Real)
Freezes this motion at the time t
.
After calling this, any further calls to self.position_at_time
will always return self.position_at_time(t)
(where t
is the value given
to this method). This sets the linear velocity and angular velocity
of self
to zero.
sourcepub fn append_translation(&self, tra: Vector<Real>) -> Self
pub fn append_translation(&self, tra: Vector<Real>) -> Self
Appends a constant translation to this rigid-motion.
sourcepub fn prepend_translation(&self, tra: Vector<Real>) -> Self
pub fn prepend_translation(&self, tra: Vector<Real>) -> Self
Prepends a constant translation to this rigid-motion.
sourcepub fn append(&self, iso: Isometry<Real>) -> Self
pub fn append(&self, iso: Isometry<Real>) -> Self
Appends a constant isometry to this rigid-motion.
sourcepub fn prepend(&self, iso: Isometry<Real>) -> Self
pub fn prepend(&self, iso: Isometry<Real>) -> Self
Prepends a constant translation to this rigid-motion.
sourcepub fn position_at_time(&self, t: Real) -> Isometry<Real>
pub fn position_at_time(&self, t: Real) -> Isometry<Real>
Computes the position at time t
of a rigid-body following the motion described by self
.
Trait Implementations§
source§impl Clone for NonlinearRigidMotion
impl Clone for NonlinearRigidMotion
source§fn clone(&self) -> NonlinearRigidMotion
fn clone(&self) -> NonlinearRigidMotion
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl Debug for NonlinearRigidMotion
impl Debug for NonlinearRigidMotion
impl Copy for NonlinearRigidMotion
Auto Trait Implementations§
impl Freeze for NonlinearRigidMotion
impl RefUnwindSafe for NonlinearRigidMotion
impl Send for NonlinearRigidMotion
impl Sync for NonlinearRigidMotion
impl Unpin for NonlinearRigidMotion
impl UnwindSafe for NonlinearRigidMotion
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T: ?Sized,
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