R3NonlinearRigidMotion Struct Reference

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

#include <rapier.h>

Data Fields
struct R3Pose	start
	World-space pose at time zero.
struct R3Vector	local_center
	Rotation center, in the local coordinates of the moving shape.
struct R3Vector	linvel
	World-space linear velocity.
R3AngVector	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

R3AngVector R3NonlinearRigidMotion::angvel

World-space angular velocity, in radians per second.

linvel

struct R3Vector R3NonlinearRigidMotion::linvel

World-space linear velocity.

local_center

struct R3Vector R3NonlinearRigidMotion::local_center

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

start

struct R3Pose R3NonlinearRigidMotion::start

World-space pose at time zero.

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

• rapier.h