R2NonlinearRigidMotion Struct Reference

Rigid motion with constant linear and angular velocities. More...

#include <rapier.h>

Data Fields
struct R2Pose	start
	World-space pose at time zero.
struct R2Vector	local_center
	Rotation center, in the local coordinates of the moving shape.
struct R2Vector	linvel
	World-space linear velocity.
R2AngVector	angvel
	World-space angular velocity, in radians per second.

Detailed Description

Rigid motion with constant linear and angular velocities.

At time t, the shape at start is rotated by angvel * t around its local_center point, then translated by linvel * t.

Field Documentation

angvel

R2AngVector R2NonlinearRigidMotion::angvel

World-space angular velocity, in radians per second.

linvel

struct R2Vector R2NonlinearRigidMotion::linvel

World-space linear velocity.

local_center

struct R2Vector R2NonlinearRigidMotion::local_center

Rotation center, in the local coordinates of the moving shape.

start

struct R2Pose R2NonlinearRigidMotion::start

World-space pose at time zero.

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The documentation for this struct was generated from the following file:

• rapier.h