Struct bevy_rapier3d::prelude::BallJoint[−][src]

pub struct BallJoint {
    pub local_anchor1: Point<f32, 3_usize>,
    pub local_anchor2: Point<f32, 3_usize>,
    pub impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
    pub motor_target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
    pub motor_target_pos: Unit<Quaternion<f32>>,
    pub motor_stiffness: f32,
    pub motor_damping: f32,
    pub motor_max_impulse: f32,
    pub motor_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
    pub motor_model: SpringModel,
}
Expand description

A joint that removes all relative linear motion between a pair of points on two bodies.

Fields

local_anchor1: Point<f32, 3_usize>

Where the ball joint is attached on the first body, expressed in the first body local frame.

local_anchor2: Point<f32, 3_usize>

Where the ball joint is attached on the first body, expressed in the first body local frame.

impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The impulse applied by this joint on the first body.

The impulse applied to the second body is given by -impulse.

motor_target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The target relative angular velocity the motor will attempt to reach.

motor_target_pos: Unit<Quaternion<f32>>

The target angular position of this joint, expressed as an axis-angle.

motor_stiffness: f32

The motor’s stiffness. See the documentation of SpringModel for more information on this parameter.

motor_damping: f32

The motor’s damping. See the documentation of SpringModel for more information on this parameter.

motor_max_impulse: f32

The maximal impulse the motor is able to deliver.

motor_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>

The angular impulse applied by the motor.

motor_model: SpringModel

The spring-like model used by the motor to reach the target velocity and .

Implementations

impl BallJoint[src]

pub fn new(
    local_anchor1: Point<f32, 3_usize>,
    local_anchor2: Point<f32, 3_usize>
) -> BallJoint[src]

Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.

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

Can a SIMD constraint be used for resolving this joint?

pub fn configure_motor_model(&mut self, model: SpringModel)[src]

Set the spring-like model used by the motor to reach the desired target velocity and position.

pub fn configure_motor_velocity(
    &mut self,
    target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
    factor: f32
)[src]

Sets the target velocity and velocity correction factor this motor.

pub fn configure_motor_position(
    &mut self,
    target_pos: Unit<Quaternion<f32>>,
    stiffness: f32,
    damping: f32
)[src]

Sets the target orientation this motor needs to reach.

pub fn configure_motor(
    &mut self,
    target_pos: Unit<Quaternion<f32>>,
    target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
    stiffness: f32,
    damping: f32
)[src]

Configure both the target orientation and target velocity of the motor.

Trait Implementations

impl Clone for BallJoint[src]

pub fn clone(&self) -> BallJoint[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl From<BallJoint> for JointParams[src]

pub fn from(j: BallJoint) -> JointParams[src]

Performs the conversion.

impl Copy for BallJoint[src]

Auto Trait Implementations

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized, [src]

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Gets the TypeId of self. Read more

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    T: ?Sized, [src]

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    T: ?Sized, [src]

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    T: Any, 

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Performs the conversion.

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Instruments this type with the provided Span, returning an Instrumented wrapper. Read more

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    U: From<T>, [src]

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Performs the conversion.

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type Init = T

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impl<T> ToOwned for T where
    T: Clone, [src]

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🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

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

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    U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

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    T: 'static + Send + Sync + Clone, 

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