Struct RigidBodyPosition

pub struct RigidBodyPosition {
    pub position: Isometry<f32>,
    pub next_position: Isometry<f32>,
}

The position of this rigid-body.

Fields

position: Isometry<f32>

The world-space position of the rigid-body.

next_position: Isometry<f32>

The next position of the rigid-body.

At the beginning of the timestep, and when the timestep is complete we must have position == next_position except for kinematic bodies.

The next_position is updated after the velocity and position resolution. Then it is either validated (ie. we set position := set_position) or clamped by CCD.

Implementations

impl RigidBodyPosition

pub fn interpolate_velocity( &self, inv_dt: f32, local_com: &Point<f32>, ) -> RigidBodyVelocity

Computes the velocity need to travel from self.position to self.next_position in a time equal to 1.0 / inv_dt.

pub fn integrate_forces_and_velocities( &self, dt: f32, forces: &RigidBodyForces, vels: &RigidBodyVelocity, mprops: &RigidBodyMassProps, ) -> Isometry<f32>

Compute new positions after integrating the given forces and velocities.

This uses a symplectic Euler integration scheme.

pub fn pose_errors(&self, local_com: &Point<f32>) -> PdErrors

Computes the difference between Self::next_position and Self::position.

This error measure can for example be used for interpolating the velocity between two poses, or be given to the PidController.

Note that interpolating the velocity can be done more conveniently with Self::interpolate_velocity.

Trait Implementations

impl Clone for RigidBodyPosition

fn clone(&self) -> RigidBodyPosition

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for RigidBodyPosition

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

Formats the value using the given formatter.

impl Default for RigidBodyPosition

fn default() -> Self

Returns the “default value” for a type.

impl<T> From<T> for RigidBodyPosition

where Isometry<f32>: From<T>,

fn from(position: T) -> Self

Converts to this type from the input type.

impl PartialEq for RigidBodyPosition

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

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

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

impl Copy for RigidBodyPosition

impl StructuralPartialEq for RigidBodyPosition