Struct ark_api::world::Joint

pub struct Joint { /* private fields */ }

Joint component. A joint connects two dynamic, or one static and one dynamic, entity physically. It doesn’t have to be a component of one of the entities it connects, but that can be convenient at times.

There are many different kinds of joints. A Joint can represent all standard joint types except D6, which we have D6Joint for.

If you don’t set a second_entity, the joint will be to kind of a static invisible global frame - not super realistic, but often useful.

Usually accessed through entity.joint().

Most of the time, you’ll be better served by a D6Joint. Joint represent PhysX’s legacy joint types. They can be easier to use for simpler applications but D6Joint has all the capabilities and are more flexible.

Implementations

impl Joint

pub fn joint_type(&self) -> ValueAccessorReadWrite<JointType>

Returns a ValueAccessor for the joint type of the entity.

Used to set/get the mesh style.

pub fn first_entity(&self) -> ValueAccessorReadWrite<Entity>

The first entity of the joint.

pub fn second_entity(&self) -> ValueAccessorReadWrite<Entity>

The second entity of the joint.

pub fn first_offset(&self) -> ValueAccessorReadWrite<Vec3>

The location on the first entity that the joint is attached to.

pub fn second_offset(&self) -> ValueAccessorReadWrite<Vec3>

The location on the second entity that the joint is attached to.

pub fn first_orientation(&self) -> ValueAccessorReadWrite<Quat>

The orientation of the joint on the second entity that the joint is attached to. For hinge joints, the default is the exact X axis, rotated by this orientation.

pub fn second_orientation(&self) -> ValueAccessorReadWrite<Quat>

The orientation of the joint on the second entity that the joint is attached to. For hinge joints, the default is the exact X axis, rotated by this orientation.

pub fn limits(&self) -> ValueAccessorReadWrite<Vec2>

The limit bounds of a joint. x is min, y is max, what exactly it limits depends on the joint type:

• Ball joint: x is the y angle limit of the cone (around the x axis), while y sets the z angle limit.
• Hinge: x is the lower angle limit, y is the upper angle limit.
• Slider: x is the lower position limit, y is the upper position limit.
• Distance: x is the minimum distance, y is the maximum distance.

pub fn limit_type(&self) -> ValueAccessorReadWrite<JointLimitType>

The limit type of a joint.

pub fn velocity(&self) -> ValueAccessorRead<f32>

The joint velocity (angular for hinge joints, linear for linear joints). Can only be retrieved for now, need to use forces to change it.

pub fn drive_enable(&self) -> ValueAccessorReadWriteAnimate<bool>

Turns on joint drive. Currently only works with Hinge joints. D6Joint has more flexible drive capabilities, though.

pub fn drive_velocity(&self) -> ValueAccessorReadWriteAnimate<f32>

The drive velocity. Does nothing unless drive_enable is set to true.

pub fn drive_force_limit(&self) -> ValueAccessorReadWriteAnimate<f32>

Sets the maximum force the joint drive can exercise.

pub fn drive_gear_ratio(&self) -> ValueAccessorReadWriteAnimate<f32>

Sets the gear ratio of the joint drive.

pub fn drive_freespin(&self) -> ValueAccessorReadWriteAnimate<bool>

Enables freespin on the joint drive (it’ll continue to spin by inertia if you turn off the drive).

pub fn break_force(&self) -> ValueAccessorReadWrite<f32>

Sets the force threshold for breaking the joint. Default is std::f32::MAX (effectively unbreakable).

pub fn break_torque(&self) -> ValueAccessorReadWrite<f32>

Sets the torque threshold for breaking the joint. Default is std::f32::MAX (effectively unbreakable).

pub fn is_broken(&self) -> ValueAccessorRead<bool>

Lets you check whether the joint is broken. Cannot be modified.

pub fn angle_or_position(&self) -> ValueAccessorRead<Vec3>

Lets you check the angles or position of the joint. Interpreted differently depending on the joint type:

• Hinge: x means the angle. You can use hinge_angle instead.
• Ball: y means the y-angle, z means the z-angle. You can use ball_swing_angles instead.
• Linear: x means the position along the joint. You can use linear_position instead.

pub fn hinge_angle(&self) -> f32

Utility function for angle_or_position: If the joint is a hinge, returns the angle directly.

pub fn linear_position(&self) -> f32

Utility function: If the joint is linear, returns the position along the line directly.

pub fn ball_swing_angles(&self) -> Vec2

Utility function: If the joint is a ball joint, return the swing angles.

Trait Implementations

impl ComponentTrait for Joint

fn get_type() -> ComponentType

The type of the component, as a ComponentType enum.

fn from_entity(handle: Entity) -> Self

Adopt an Entity, wrap in a component struct.

fn entity(&self) -> Entity

Get the entity that the component belongs to.

impl Debug for Joint

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

Formats the value using the given formatter.