Struct MultibodyLink

pub struct MultibodyLink {
    pub joint: MultibodyJoint,
    /* private fields */
}

One link of a multibody.

Fields

joint: MultibodyJoint

The multibody joint of this link.

Implementations

impl MultibodyLink

pub fn new( rigid_body: RigidBodyHandle, internal_id: usize, assembly_id: usize, parent_internal_id: usize, joint: MultibodyJoint, local_to_world: Isometry<f32>, local_to_parent: Isometry<f32>, ) -> Self

Creates a new multibody link.

pub fn joint(&self) -> &MultibodyJoint

The multibody joint of this link.

pub fn rigid_body_handle(&self) -> RigidBodyHandle

The handle of the rigid-body of this link.

pub fn is_root(&self) -> bool

Checks if this link is the root of the multibody.

pub fn link_id(&self) -> usize

The handle of this multibody link.

pub fn parent_id(&self) -> Option<usize>

The handle of the parent link.

pub fn local_to_world(&self) -> &Isometry<f32>

The world-space transform of the rigid-body attached to this link.

pub fn local_to_parent(&self) -> &Isometry<f32>

The position of the rigid-body attached to this link relative to its parent.

Trait Implementations

impl Clone for MultibodyLink

fn clone(&self) -> MultibodyLink

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for MultibodyLink

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

Formats the value using the given formatter.

impl Copy for MultibodyLink