rapier3d::dynamics

Struct RigidBodyForces

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pub struct RigidBodyForces {
    pub force: Vector<f32>,
    pub torque: AngVector<f32>,
    pub gravity_scale: f32,
    pub user_force: Vector<f32>,
    pub user_torque: AngVector<f32>,
}
Expand description

The user-defined external forces applied to this rigid-body.

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§force: Vector<f32>

Accumulation of external forces (only for dynamic bodies).

§torque: AngVector<f32>

Accumulation of external torques (only for dynamic bodies).

§gravity_scale: f32

Gravity is multiplied by this scaling factor before it’s applied to this rigid-body.

§user_force: Vector<f32>

Forces applied by the user.

§user_torque: AngVector<f32>

Torque applied by the user.

Implementations§

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impl RigidBodyForces

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pub fn integrate( &self, dt: f32, init_vels: &RigidBodyVelocity, mprops: &RigidBodyMassProps, ) -> RigidBodyVelocity

Integrate these forces to compute new velocities.

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pub fn compute_effective_force_and_torque( &mut self, gravity: &Vector<f32>, mass: &Vector<f32>, )

Adds to self the gravitational force that would result in a gravitational acceleration equal to gravity.

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pub fn apply_force_at_point( &mut self, rb_mprops: &RigidBodyMassProps, force: Vector<f32>, point: Point<f32>, )

Applies a force at the given world-space point of the rigid-body with the given mass properties.

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impl Clone for RigidBodyForces

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fn clone(&self) -> RigidBodyForces

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 RigidBodyForces

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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 RigidBodyForces

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl PartialEq for RigidBodyForces

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fn eq(&self, other: &RigidBodyForces) -> 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 Copy for RigidBodyForces

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impl StructuralPartialEq for RigidBodyForces

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