RigidBodyMassProps

rapier2d::dynamics

Struct RigidBodyMassProps 

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pub struct RigidBodyMassProps {
    pub world_com: Point<f32>,
    pub effective_inv_mass: Vector<f32>,
    pub effective_world_inv_inertia: AngularInertia<f32>,
    pub local_mprops: MassProperties,
    pub flags: LockedAxes,
    pub additional_local_mprops: Option<Box<RigidBodyAdditionalMassProps>>,
}
Expand description

The mass properties of a rigid-body.

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§world_com: Point<f32>

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

§effective_inv_mass: Vector<f32>

The inverse mass taking into account translation locking.

§effective_world_inv_inertia: AngularInertia<f32>

The square-root of the world-space inverse angular inertia tensor of the rigid-body, taking into account rotation locking.

§local_mprops: MassProperties

The local mass properties of the rigid-body.

§flags: LockedAxes

Flags for locking rotation and translation.

§additional_local_mprops: Option<Box<RigidBodyAdditionalMassProps>>

Mass-properties of this rigid-bodies, added to the contributions of its attached colliders.

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impl RigidBodyMassProps

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pub fn mass(&self) -> f32

The mass of the rigid-body.

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pub fn effective_mass(&self) -> Vector<f32>

The effective mass (that takes the potential translation locking into account) of this rigid-body.

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pub fn effective_angular_inertia(&self) -> AngularInertia<f32>

The square root of the effective world-space angular inertia (that takes the potential rotation locking into account) of this rigid-body.

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pub fn recompute_mass_properties_from_colliders( &mut self, colliders: &ColliderSet, attached_colliders: &RigidBodyColliders, body_type: RigidBodyType, position: &Isometry<f32>, )

Recompute the mass-properties of this rigid-bodies based on its currently attached colliders.

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pub fn update_world_mass_properties( &mut self, body_type: RigidBodyType, position: &Isometry<f32>, )

Update the world-space mass properties of self, taking into account the new position.

Trait Implementations§

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impl Clone for RigidBodyMassProps

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fn clone(&self) -> RigidBodyMassProps

Returns a duplicate 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 RigidBodyMassProps

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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 Default for RigidBodyMassProps

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl From<LockedAxes> for RigidBodyMassProps

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fn from(flags: LockedAxes) -> Self

Converts to this type from the input type.
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impl From<MassProperties> for RigidBodyMassProps

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fn from(local_mprops: MassProperties) -> Self

Converts to this type from the input type.
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impl PartialEq for RigidBodyMassProps

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fn eq(&self, other: &RigidBodyMassProps) -> bool

Tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl StructuralPartialEq for RigidBodyMassProps

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