Struct ConstantVelocityRigidMotion

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pub struct ConstantVelocityRigidMotion<N: RealField + Copy> {
    pub t0: N,
    pub start: Isometry<N>,
    pub local_center: Point<N>,
    pub linvel: Vector<N>,
    pub angvel: Vector<N>,
}

Expand description

A linear motion from a starting isometry traveling at constant translational velocity.

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§t0: N

The time at which this parametrization begins. Can be negative.

§start: Isometry<N>

The starting isometry at t = self.t0.

§local_center: Point<N>

The local-space point at which the rotational part of this motion is applied.

§linvel: Vector<N>

The translational velocity of this motion.

§angvel: Vector<N>

The angular velocity of this motion.

Implementations§

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impl<N: RealField + Copy> ConstantVelocityRigidMotion<N>

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pub fn new( t0: N, start: Isometry<N>, local_center: Point<N>, linvel: Vector<N>, angvel: Vector<N>, ) -> Self

Initialize a motion from a starting isometry and linear and angular velocities.

Trait Implementations§

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impl<N: Debug + RealField + Copy> Debug for ConstantVelocityRigidMotion<N>

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

Formats the value using the given formatter. Read more

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impl<N: RealField + Copy> RigidMotion<N> for ConstantVelocityRigidMotion<N>

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fn position_at_time(&self, t: N) -> Isometry<N>

Get a position at the time t.

Auto Trait Implementations§

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impl<N> Freeze for ConstantVelocityRigidMotion<N>
where N: Freeze,

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impl<N> RefUnwindSafe for ConstantVelocityRigidMotion<N>
where N: RefUnwindSafe,

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impl<N> UnwindSafe for ConstantVelocityRigidMotion<N>
where N: UnwindSafe,

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T
where T: Any,

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fn into_any(self: Box<T>) -> Box<dyn Any>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.

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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.

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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.

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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.

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impl<T> DowncastSync for T
where T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.

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