Struct bevy_rapier3d::prelude::RevoluteJoint [−][src]
pub struct RevoluteJoint {}Show fields
pub local_anchor1: Point<f32, 3_usize>, pub local_anchor2: Point<f32, 3_usize>, pub local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>, pub local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>, pub basis1: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2], pub basis2: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2], pub impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 5_usize, 1_usize>>, pub motor_target_vel: f32, pub motor_target_pos: f32, pub motor_stiffness: f32, pub motor_damping: f32, pub motor_max_impulse: f32, pub motor_impulse: f32, pub motor_model: SpringModel, // some fields omitted
Expand description
A joint that removes all relative motion between two bodies, except for the rotations along one axis.
Fields
local_anchor1: Point<f32, 3_usize>
Where the revolute joint is attached on the first body, expressed in the local space of the first attached body.
local_anchor2: Point<f32, 3_usize>
Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
The rotation axis of this revolute joint expressed in the local space of the first attached body.
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
The rotation axis of this revolute joint expressed in the local space of the second attached body.
basis1: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2]
The basis orthonormal to local_axis1
, expressed in the local space of the first attached body.
basis2: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2]
The basis orthonormal to local_axis2
, expressed in the local space of the second attached body.
impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 5_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: f32
The target relative angular velocity the motor will attempt to reach.
motor_target_pos: f32
The target relative angle along the joint axis the motor will attempt to reach.
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: f32
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
pub fn new(
local_anchor1: Point<f32, 3_usize>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_anchor2: Point<f32, 3_usize>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> RevoluteJoint
[src]
pub fn new(
local_anchor1: Point<f32, 3_usize>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_anchor2: Point<f32, 3_usize>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> RevoluteJoint
[src]Creates a new revolute joint with the given point of applications and axis, all expressed in the local-space of the affected bodies.
Can a SIMD constraint be used for resolving this joint?
Set the spring-like model used by the motor to reach the desired target velocity and position.
Sets the target velocity this motor needs to reach.
Sets the target angle this motor needs to reach.
Configure both the target angle and target velocity of the motor.
pub fn estimate_motor_angle(
&self,
body_pos1: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
body_pos2: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> f32
[src]
pub fn estimate_motor_angle(
&self,
body_pos1: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
body_pos2: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> f32
[src]Estimates the current position of the motor angle.
Trait Implementations
Performs the conversion.
Auto Trait Implementations
impl RefUnwindSafe for RevoluteJoint
impl Send for RevoluteJoint
impl Sync for RevoluteJoint
impl Unpin for RevoluteJoint
impl UnwindSafe for RevoluteJoint
Blanket Implementations
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