Struct parry3d::query::details::NonlinearRigidMotion

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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.

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§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§

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impl NonlinearRigidMotion

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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.

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pub fn identity() -> Self

Create a NonlinearRigidMotion that always returns the identity matrix.

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pub fn constant_position(pos: Isometry<Real>) -> Self

Create a NonlinearRigidMotion that always return pos.

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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.

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pub fn append_translation(&self, tra: Vector<Real>) -> Self

Appends a constant translation to this rigid-motion.

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pub fn prepend_translation(&self, tra: Vector<Real>) -> Self

Prepends a constant translation to this rigid-motion.

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pub fn append(&self, iso: Isometry<Real>) -> Self

Appends a constant isometry to this rigid-motion.

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pub fn prepend(&self, iso: Isometry<Real>) -> Self

Prepends a constant translation to this rigid-motion.

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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§

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impl Clone for NonlinearRigidMotion

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fn clone(&self) -> NonlinearRigidMotion

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for NonlinearRigidMotion

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

Formats the value using the given formatter. Read more
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impl Copy for NonlinearRigidMotion

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