# [−][src]Struct nphysics3d::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.

Get the mass.

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

Get the inverse mass.

Returns 0.0 if the mass is 0.0.

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

#### type Output = Inertia3<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> Mul<Velocity3<N>> for Inertia3<N>[src]

#### type Output = Force3<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.

## Blanket Implementations

### impl<T> Same<T> for T

#### type Output = T

Should always be Self

### 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.