Struct jumpy::core::physics::rapier::MultibodyLink

pub struct MultibodyLink {
    pub(crate) internal_id: usize,
    pub(crate) assembly_id: usize,
    pub(crate) parent_internal_id: usize,
    pub(crate) rigid_body: RigidBodyHandle,
    pub joint: MultibodyJoint,
    pub(crate) local_to_world: Isometry<f32, Unit<Complex<f32>>, 2>,
    pub(crate) local_to_parent: Isometry<f32, Unit<Complex<f32>>, 2>,
    pub(crate) shift02: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>,
    pub(crate) shift23: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>,
    pub(crate) joint_velocity: RigidBodyVelocity,
}
Expand description

One link of a multibody.

Fields§

§internal_id: usize§assembly_id: usize§parent_internal_id: usize§rigid_body: RigidBodyHandle§joint: MultibodyJoint

The multibody joint of this link.

§local_to_world: Isometry<f32, Unit<Complex<f32>>, 2>§local_to_parent: Isometry<f32, Unit<Complex<f32>>, 2>§shift02: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>§shift23: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>§joint_velocity: RigidBodyVelocity

Implementations§

pub fn new( rigid_body: RigidBodyHandle, internal_id: usize, assembly_id: usize, parent_internal_id: usize, joint: MultibodyJoint, local_to_world: Isometry<f32, Unit<Complex<f32>>, 2>, local_to_parent: Isometry<f32, Unit<Complex<f32>>, 2>, ) -> MultibodyLink

Creates a new multibody link.

pub fn joint(&self) -> &MultibodyJoint

The multibody joint of this link.

pub fn rigid_body_handle(&self) -> RigidBodyHandle

The handle of the rigid-body of this link.

pub fn is_root(&self) -> bool

Checks if this link is the root of the multibody.

The handle of this multibody link.

pub fn parent_id(&self) -> Option<usize>

The handle of the parent link.

pub fn local_to_world(&self) -> &Isometry<f32, Unit<Complex<f32>>, 2>

The world-space transform of the rigid-body attached to this link.

pub fn local_to_parent(&self) -> &Isometry<f32, Unit<Complex<f32>>, 2>

The position of the rigid-body attached to this link relative to its parent.

Trait Implementations§

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fn clone(&self) -> MultibodyLink

Returns a copy of the value. Read more
1.0.0 · source§

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

Performs copy-assignment from source. Read more

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