[][src]Struct nphysics2d::algebra::Inertia3

pub struct Inertia3<N: RealField> {
    pub linear: N,
    pub angular: Matrix3<N>,
}

The inertia of a rigid body grouping both its mass and its angular inertia.

Fields

linear: N

The linear part (mass) of the inertia.

angular: Matrix3<N>

The angular inertia.

Methods

impl<N: RealField> Inertia3<N>[src]

pub fn new(linear: N, angular: Matrix3<N>) -> Self[src]

Creates an inertia from its linear and angular components.

pub fn new_with_angular_matrix(linear: N, angular: Matrix3<N>) -> Self[src]

Creates an inertia from its linear and angular components.

pub fn mass(&self) -> N[src]

Get the mass.

pub fn zero() -> Self[src]

Create a zero inertia.

pub fn angular_matrix(&self) -> &Matrix3<N>[src]

Get the angular inertia tensor.

pub fn to_matrix(&self) -> Matrix6<N>[src]

Convert the inertia into a matrix where the mass is represented as a 3x3 diagonal matrix on the upper-left corner, and the angular part as a 3x3 matrix on the lower-rigth corner.

pub fn transformed(&self, i: &Isometry3<N>) -> Self[src]

Compute the inertia on the given coordinate frame.

pub fn inverse(&self) -> Self[src]

Inverts this inetia matrix.

Sets the angular part to zero if it is not invertible.

Trait Implementations

impl<N: Clone + RealField> Clone for Inertia3<N>[src]

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl<N: Copy + RealField> Copy for Inertia3<N>[src]

impl<N: Debug + RealField> Debug for Inertia3<N>[src]

impl<N: RealField> Add<Inertia3<N>> for Inertia3<N>[src]

type Output = Inertia3<N>

The resulting type after applying the + operator.

impl<N: RealField> Mul<Velocity3<N>> for Inertia3<N>[src]

type Output = Force3<N>

The resulting type after applying the * operator.

impl<N: RealField> Mul<Force3<N>> for Inertia3<N>[src]

type Output = Velocity3<N>

The resulting type after applying the * operator.

impl<N: RealField> Neg for Inertia3<N>[src]

type Output = Self

The resulting type after applying the - operator.

impl<N: RealField> AddAssign<Inertia3<N>> for Inertia3<N>[src]

Auto Trait Implementations

impl<N> Send for Inertia3<N> where
    N: Scalar

impl<N> Unpin for Inertia3<N> where
    N: Scalar + Unpin

impl<N> Sync for Inertia3<N> where
    N: Scalar

impl<N> RefUnwindSafe for Inertia3<N> where
    N: RefUnwindSafe + Scalar

impl<N> UnwindSafe for Inertia3<N> where
    N: Scalar + UnwindSafe

Blanket Implementations

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, 
[src]

impl<T> ToOwned for T where
    T: Clone
[src]

type Owned = T

The resulting type after obtaining ownership.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, 
[src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, 
[src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

impl<T> BorrowMut<T> for T where
    T: ?Sized
[src]

impl<T> Borrow<T> for T where
    T: ?Sized
[src]

impl<T> Any for T where
    T: 'static + ?Sized
[src]

impl<T> Downcast for T where
    T: Any

impl<T, Right> ClosedAdd<Right> for T where
    T: Add<Right, Output = T> + AddAssign<Right>, 

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<T> ClosedNeg for T where
    T: Neg<Output = T>, 

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 

impl<T> Slottable for T where
    T: Copy
[src]