Struct jumpy::core::physics::collisions::rapier::Multibody

pub struct Multibody {
Show 16 fields
    links: MultibodyLinkVec,
    pub(crate) velocities: Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>,
    pub(crate) damping: Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>,
    pub(crate) accelerations: Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>,
    body_jacobians: Vec<Matrix<f32, Const<3>, Dyn, VecStorage<f32, Const<3>, Dyn>>>,
    augmented_mass: Matrix<f32, Dyn, Dyn, VecStorage<f32, Dyn, Dyn>>,
    inv_augmented_mass: LU<f32, Dyn, Dyn>,
    acc_augmented_mass: Matrix<f32, Dyn, Dyn, VecStorage<f32, Dyn, Dyn>>,
    acc_inv_augmented_mass: LU<f32, Dyn, Dyn>,
    ndofs: usize,
    pub(crate) root_is_dynamic: bool,
    pub(crate) solver_id: usize,
    workspace: MultibodyWorkspace,
    coriolis_v: Vec<Matrix<f32, Const<2>, Dyn, <DefaultAllocator as Allocator<f32, Const<2>, Dyn>>::Buffer>>,
    coriolis_w: Vec<Matrix<f32, Const<1>, Dyn, <DefaultAllocator as Allocator<f32, Const<1>, Dyn>>::Buffer>>,
    i_coriolis_dt: Matrix<f32, Const<3>, Dyn, VecStorage<f32, Const<3>, Dyn>>,

}
Expand description

An articulated body simulated using the reduced-coordinates approach.

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§links: MultibodyLinkVec§velocities: Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>§damping: Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>§accelerations: Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>§body_jacobians: Vec<Matrix<f32, Const<3>, Dyn, VecStorage<f32, Const<3>, Dyn>>>§augmented_mass: Matrix<f32, Dyn, Dyn, VecStorage<f32, Dyn, Dyn>>§inv_augmented_mass: LU<f32, Dyn, Dyn>§acc_augmented_mass: Matrix<f32, Dyn, Dyn, VecStorage<f32, Dyn, Dyn>>§acc_inv_augmented_mass: LU<f32, Dyn, Dyn>§ndofs: usize§root_is_dynamic: bool§solver_id: usize§workspace: MultibodyWorkspace§coriolis_v: Vec<Matrix<f32, Const<2>, Dyn, <DefaultAllocator as Allocator<f32, Const<2>, Dyn>>::Buffer>>§coriolis_w: Vec<Matrix<f32, Const<1>, Dyn, <DefaultAllocator as Allocator<f32, Const<1>, Dyn>>::Buffer>>§i_coriolis_dt: Matrix<f32, Const<3>, Dyn, VecStorage<f32, Const<3>, Dyn>>

Implementations§

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impl Multibody

pub fn new() -> Multibody

Creates a new multibody with no link.

pub fn inv_augmented_mass(&self) -> &LU<f32, Dyn, Dyn>

The inverse augmented mass matrix of this multibody.

pub fn root(&self) -> &MultibodyLink

The first link of this multibody.

pub fn root_mut(&mut self) -> &mut MultibodyLink

Mutable reference to the first link of this multibody.

Reference i-th multibody link of this multibody.

Return None if there is less than i + 1 multibody links.

Mutable reference to the multibody link with the given id.

Return None if the given id does not identifies a multibody link part of self.

The number of links on this multibody.

Iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

Mutable iterator through all the links of this multibody.

All link are guaranteed to be yielded before its descendant.

pub fn damping( &self, ) -> &Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>

The vector of damping applied to this multibody.

pub fn damping_mut( &mut self, ) -> &mut Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>

Mutable vector of damping applied to this multibody.

pub fn joint_velocity( &self, link: &MultibodyLink, ) -> Matrix<f32, Dyn, Const<1>, ViewStorage<'_, f32, Dyn, Const<1>, Const<1>, Dyn>>

The generalized velocity at the multibody_joint of the given link.

pub fn generalized_acceleration( &self, ) -> Matrix<f32, Dyn, Const<1>, ViewStorage<'_, f32, Dyn, Const<1>, Const<1>, Dyn>>

The generalized accelerations of this multibodies.

pub fn generalized_velocity( &self, ) -> Matrix<f32, Dyn, Const<1>, ViewStorage<'_, f32, Dyn, Const<1>, Const<1>, Dyn>>

The generalized velocities of this multibodies.

pub fn generalized_velocity_mut( &mut self, ) -> Matrix<f32, Dyn, Const<1>, ViewStorageMut<'_, f32, Dyn, Const<1>, Const<1>, Dyn>>

The mutable generalized velocities of this multibodies.

pub fn apply_displacements(&mut self, disp: &[f32])

Apply displacements, in generalized coordinates, to this multibody.

pub fn forward_kinematics( &mut self, bodies: &mut RigidBodySet, update_rb_mass_props: bool, )

Apply forward-kinematics to this multibody and its related rigid-bodies.

pub fn ndofs(&self) -> usize

The total number of freedoms of this multibody.

Trait Implementations§

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impl Clone for Multibody

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fn clone(&self) -> Multibody

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 Default for Multibody

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fn default() -> Multibody

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

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