[][src]Struct nphysics2d::object::MultibodyLink

pub struct MultibodyLink<N: RealField> { /* fields omitted */ }

One link of a multibody.

Methods

impl<N: RealField> MultibodyLink<N>[src]

pub fn new(
    internal_id: usize,
    assembly_id: usize,
    impulse_id: usize,
    parent_internal_id: usize,
    dof: Box<dyn Joint<N>>,
    parent_shift: Vector<N>,
    body_shift: Vector<N>,
    parent_to_world: Isometry<N>,
    local_to_world: Isometry<N>,
    local_to_parent: Isometry<N>,
    local_inertia: Inertia<N>,
    local_com: Point<N>
) -> Self
[src]

Creates a new multibody link.

pub fn is_root(&self) -> bool[src]

Checks if this link is the root of the multibody.

pub fn joint(&self) -> &dyn Joint<N>[src]

Reference to the joint attaching this link to its parent.

pub fn joint_mut(&mut self) -> &mut dyn Joint<N>[src]

Mutable reference to the joint attaching this link to its parent.

pub fn parent_shift(&self) -> &Vector<N>[src]

The shift between this link's parent and this link joint origin.

pub fn body_shift(&self) -> &Vector<N>[src]

The shift between this link's joint origin and this link origin.

pub fn name(&self) -> &str[src]

This link's name.

pub fn set_name(&mut self, name: String)[src]

Sets this link's name.

The handle of this multibody link.

Trait Implementations

impl<N: RealField> BodyPart<N> for MultibodyLink<N>[src]

fn safe_position(&self) -> Isometry<N>[src]

If CCD is enabled, this is the last position known to be tunnelling-free.

Auto Trait Implementations

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

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

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

impl<N> !RefUnwindSafe for MultibodyLink<N>

impl<N> !UnwindSafe for MultibodyLink<N>

Blanket Implementations

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

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

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> Same<T> for T

type Output = T

Should always be Self

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