Struct jumpy::core::physics::rapier::MassProperties

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pub struct MassProperties {
    pub local_com: OPoint<f32, Const<2>>,
    pub inv_mass: f32,
    pub inv_principal_inertia_sqrt: f32,
}
Expand description

The local mass properties of a rigid-body.

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§local_com: OPoint<f32, Const<2>>

The center of mass of a rigid-body expressed in its local-space.

§inv_mass: f32

The inverse of the mass of a rigid-body.

If this is zero, the rigid-body is assumed to have infinite mass.

§inv_principal_inertia_sqrt: f32

The inverse of the principal angular inertia of the rigid-body.

The angular inertia is calculated relative to Self::local_com. Components set to zero are assumed to be infinite along the corresponding principal axis.

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impl MassProperties

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pub fn new( local_com: OPoint<f32, Const<2>>, mass: f32, principal_inertia: f32, ) -> MassProperties

Initializes the mass properties with the given center-of-mass, mass, and angular inertia.

The center-of-mass is specified in the local-space of the rigid-body.

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pub fn mass(&self) -> f32

The mass.

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pub fn principal_inertia(&self) -> f32

The angular inertia along the principal inertia axes and center of mass of the rigid-body.

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pub fn world_com( &self, pos: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> OPoint<f32, Const<2>>

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

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pub fn world_inv_inertia_sqrt(&self, _rot: &Unit<Complex<f32>>) -> f32

The world-space inverse angular inertia tensor of the rigid-body.

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pub fn transform_by( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> MassProperties

Transform each element of the mass properties.

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pub fn set_mass(&mut self, new_mass: f32, adjust_angular_inertia: bool)

Changes the mass on these mass-properties.

The adjust_angular_inertia argument should always be true, unless there are some specific reasons not to do so. Setting this to true will automatically adjust the angular inertia of self to account for the mass change (i.e. it will multiply the angular inertia by new_mass / prev_mass). Setting it to false will not change the current angular inertia.

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impl MassProperties

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pub fn from_ball(density: f32, radius: f32) -> MassProperties

Computes the mass properties of a ball.

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impl MassProperties

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pub fn from_capsule( density: f32, a: OPoint<f32, Const<2>>, b: OPoint<f32, Const<2>>, radius: f32, ) -> MassProperties

Computes the mass properties of a capsule.

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impl MassProperties

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pub fn from_compound( density: f32, shapes: &[(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)], ) -> MassProperties

Computes the mass properties of a compound shape.

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impl MassProperties

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pub fn from_convex_polygon( density: f32, vertices: &[OPoint<f32, Const<2>>], ) -> MassProperties

Computes the mass properties of a convex polygon.

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impl MassProperties

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pub fn from_cuboid( density: f32, half_extents: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, ) -> MassProperties

Computes the mass properties of a cuboid.

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impl MassProperties

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pub fn from_triangle( density: f32, a: &OPoint<f32, Const<2>>, b: &OPoint<f32, Const<2>>, c: &OPoint<f32, Const<2>>, ) -> MassProperties

Computes the mass properties of a triangle.

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impl MassProperties

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pub fn from_trimesh( density: f32, vertices: &[OPoint<f32, Const<2>>], indices: &[[u32; 3]], ) -> MassProperties

Computes the mass properties of a triangle-mesh.

Trait Implementations§

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impl AbsDiffEq for MassProperties

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type Epsilon = f32

Used for specifying relative comparisons.
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fn default_epsilon() -> <MassProperties as AbsDiffEq>::Epsilon

The default tolerance to use when testing values that are close together. Read more
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fn abs_diff_eq( &self, other: &MassProperties, epsilon: <MassProperties as AbsDiffEq>::Epsilon, ) -> bool

A test for equality that uses the absolute difference to compute the approximate equality of two numbers.
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fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool

The inverse of [AbsDiffEq::abs_diff_eq].
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impl Add for MassProperties

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type Output = MassProperties

The resulting type after applying the + operator.
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fn add(self, other: MassProperties) -> MassProperties

Performs the + operation. Read more
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impl AddAssign for MassProperties

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fn add_assign(&mut self, rhs: MassProperties)

Performs the += operation. Read more
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impl Clone for MassProperties

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fn clone(&self) -> MassProperties

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 MassProperties

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

Formats the value using the given formatter. Read more
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impl Default for MassProperties

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fn default() -> MassProperties

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

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fn from(mprops: MassProperties) -> ColliderMassProps

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) -> RigidBodyMassProps

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

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

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

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl RelativeEq for MassProperties

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fn default_max_relative() -> <MassProperties as AbsDiffEq>::Epsilon

The default relative tolerance for testing values that are far-apart. Read more
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fn relative_eq( &self, other: &MassProperties, epsilon: <MassProperties as AbsDiffEq>::Epsilon, max_relative: <MassProperties as AbsDiffEq>::Epsilon, ) -> bool

A test for equality that uses a relative comparison if the values are far apart.
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fn relative_ne( &self, other: &Rhs, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

The inverse of [RelativeEq::relative_eq].
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impl Sub for MassProperties

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type Output = MassProperties

The resulting type after applying the - operator.
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fn sub(self, other: MassProperties) -> MassProperties

Performs the - operation. Read more
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impl SubAssign for MassProperties

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fn sub_assign(&mut self, rhs: MassProperties)

Performs the -= operation. Read more
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impl Sum for MassProperties

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fn sum<I>(iter: I) -> MassProperties
where I: Iterator<Item = MassProperties>,

Method which takes an iterator and generates Self from the elements by “summing up” the items.
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impl Zero for MassProperties

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fn zero() -> MassProperties

Returns the additive identity element of Self, 0. Read more
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fn is_zero(&self) -> bool

Returns true if self is equal to the additive identity.
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fn set_zero(&mut self)

Sets self to the additive identity element of Self, 0.
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impl Copy for MassProperties

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impl StructuralPartialEq for MassProperties

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