Struct bevy_rapier3d::dynamics::GenericJoint
source · #[repr(transparent)]pub struct GenericJoint {
pub raw: RapierGenericJoint,
}
Expand description
The description of any joint.
Fields
raw: RapierGenericJoint
The raw Rapier description of the joint.
Implementations
sourceimpl GenericJoint
impl GenericJoint
sourcepub fn into_rapier(self, physics_scale: Real) -> RapierGenericJoint
pub fn into_rapier(self, physics_scale: Real) -> RapierGenericJoint
Converts this joint into a Rapier joint.
sourceimpl GenericJoint
impl GenericJoint
sourcepub fn new(locked_axes: JointAxesMask) -> Self
pub fn new(locked_axes: JointAxesMask) -> Self
Creates a new generic joint that locks the specified degrees of freedom.
sourcepub fn locked_axes(&self) -> JointAxesMask
pub fn locked_axes(&self) -> JointAxesMask
The set of axes locked by this joint.
sourcepub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self
pub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self
Add the specified axes to the set of axes locked by this joint.
sourcepub fn local_basis1(&self) -> Rot
pub fn local_basis1(&self) -> Rot
The basis of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn set_local_basis1(&mut self, local_basis: Rot) -> &mut Self
pub fn set_local_basis1(&mut self, local_basis: Rot) -> &mut Self
Sets the joint’s frame, expressed in the first rigid-body’s local-space.
sourcepub fn local_basis2(&self) -> Rot
pub fn local_basis2(&self) -> Rot
The basis of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn set_local_basis2(&mut self, local_basis: Rot) -> &mut Self
pub fn set_local_basis2(&mut self, local_basis: Rot) -> &mut Self
Sets the joint’s frame, expressed in the second rigid-body’s local-space.
sourcepub fn local_axis1(&self) -> Vect
pub fn local_axis1(&self) -> Vect
The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn set_local_axis1(&mut self, local_axis: Vect) -> &mut Self
pub fn set_local_axis1(&mut self, local_axis: Vect) -> &mut Self
Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn local_axis2(&self) -> Vect
pub fn local_axis2(&self) -> Vect
The principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn set_local_axis2(&mut self, local_axis: Vect) -> &mut Self
pub fn set_local_axis2(&mut self, local_axis: Vect) -> &mut Self
Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn local_anchor1(&self) -> Vect
pub fn local_anchor1(&self) -> Vect
The anchor of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn set_local_anchor1(&mut self, anchor1: Vect) -> &mut Self
pub fn set_local_anchor1(&mut self, anchor1: Vect) -> &mut Self
Sets anchor of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn local_anchor2(&self) -> Vect
pub fn local_anchor2(&self) -> Vect
The anchor of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn set_local_anchor2(&mut self, anchor2: Vect) -> &mut Self
pub fn set_local_anchor2(&mut self, anchor2: Vect) -> &mut Self
Sets anchor of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn contacts_enabled(&self) -> bool
pub fn contacts_enabled(&self) -> bool
Are contacts between the attached rigid-bodies enabled?
sourcepub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self
pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self
Sets whether contacts between the attached rigid-bodies are enabled.
sourcepub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>>
pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>>
The joint limits along the specified axis.
sourcepub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self
pub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self
Sets the joint limits along the specified axis.
sourcepub fn motor_model(&self, axis: JointAxis) -> Option<MotorModel>
pub fn motor_model(&self, axis: JointAxis) -> Option<MotorModel>
The spring-like motor model along the specified axis of this joint.
sourcepub fn set_motor_model(&mut self, axis: JointAxis, model: MotorModel) -> &mut Self
pub fn set_motor_model(&mut self, axis: JointAxis, model: MotorModel) -> &mut Self
Set the spring-like model used by the motor to reach the desired target velocity and position.
sourcepub fn set_motor_velocity(
&mut self,
axis: JointAxis,
target_vel: Real,
factor: Real
) -> &mut Self
pub fn set_motor_velocity(
&mut self,
axis: JointAxis,
target_vel: Real,
factor: Real
) -> &mut Self
Sets the target velocity this motor needs to reach.
sourcepub fn set_motor_position(
&mut self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real
) -> &mut Self
pub fn set_motor_position(
&mut self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real
) -> &mut Self
Sets the target angle this motor needs to reach.
sourcepub fn set_motor_max_force(
&mut self,
axis: JointAxis,
max_force: Real
) -> &mut Self
pub fn set_motor_max_force(
&mut self,
axis: JointAxis,
max_force: Real
) -> &mut Self
Sets the maximum force the motor can deliver along the specified axis.
sourcepub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>
pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>
The motor affecting the joint’s degree of freedom along the specified axis.
sourceimpl GenericJoint
impl GenericJoint
sourcepub fn as_revolute(&self) -> Option<&RevoluteJoint>
pub fn as_revolute(&self) -> Option<&RevoluteJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_revolute_mut(&mut self) -> Option<&mut RevoluteJoint>
pub fn as_revolute_mut(&mut self) -> Option<&mut RevoluteJoint>
Converts the joint to its specific mutable variant, if it is one.
sourcepub fn as_fixed(&self) -> Option<&FixedJoint>
pub fn as_fixed(&self) -> Option<&FixedJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_fixed_mut(&mut self) -> Option<&mut FixedJoint>
pub fn as_fixed_mut(&mut self) -> Option<&mut FixedJoint>
Converts the joint to its specific mutable variant, if it is one.
sourcepub fn as_prismatic(&self) -> Option<&PrismaticJoint>
pub fn as_prismatic(&self) -> Option<&PrismaticJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_prismatic_mut(&mut self) -> Option<&mut PrismaticJoint>
pub fn as_prismatic_mut(&mut self) -> Option<&mut PrismaticJoint>
Converts the joint to its specific mutable variant, if it is one.
sourcepub fn as_spherical(&self) -> Option<&SphericalJoint>
pub fn as_spherical(&self) -> Option<&SphericalJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_spherical_mut(&mut self) -> Option<&mut SphericalJoint>
pub fn as_spherical_mut(&mut self) -> Option<&mut SphericalJoint>
Converts the joint to its specific mutable variant, if it is one.
Trait Implementations
sourceimpl Clone for GenericJoint
impl Clone for GenericJoint
sourcefn clone(&self) -> GenericJoint
fn clone(&self) -> GenericJoint
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresourceimpl Debug for GenericJoint
impl Debug for GenericJoint
sourceimpl Default for GenericJoint
impl Default for GenericJoint
sourcefn default() -> GenericJoint
fn default() -> GenericJoint
sourceimpl<'de> Deserialize<'de> for GenericJoint
impl<'de> Deserialize<'de> for GenericJoint
sourcefn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
sourceimpl From<FixedJoint> for GenericJoint
impl From<FixedJoint> for GenericJoint
sourcefn from(joint: FixedJoint) -> GenericJoint
fn from(joint: FixedJoint) -> GenericJoint
sourceimpl From<FixedJointBuilder> for GenericJoint
impl From<FixedJointBuilder> for GenericJoint
sourcefn from(joint: FixedJointBuilder) -> GenericJoint
fn from(joint: FixedJointBuilder) -> GenericJoint
sourceimpl From<GenericJointBuilder> for GenericJoint
impl From<GenericJointBuilder> for GenericJoint
sourcefn from(joint: GenericJointBuilder) -> GenericJoint
fn from(joint: GenericJointBuilder) -> GenericJoint
sourceimpl From<PrismaticJoint> for GenericJoint
impl From<PrismaticJoint> for GenericJoint
sourcefn from(joint: PrismaticJoint) -> GenericJoint
fn from(joint: PrismaticJoint) -> GenericJoint
sourceimpl From<PrismaticJointBuilder> for GenericJoint
impl From<PrismaticJointBuilder> for GenericJoint
sourcefn from(joint: PrismaticJointBuilder) -> GenericJoint
fn from(joint: PrismaticJointBuilder) -> GenericJoint
sourceimpl From<RevoluteJoint> for GenericJoint
impl From<RevoluteJoint> for GenericJoint
sourcefn from(joint: RevoluteJoint) -> GenericJoint
fn from(joint: RevoluteJoint) -> GenericJoint
sourceimpl From<RevoluteJointBuilder> for GenericJoint
impl From<RevoluteJointBuilder> for GenericJoint
sourcefn from(joint: RevoluteJointBuilder) -> GenericJoint
fn from(joint: RevoluteJointBuilder) -> GenericJoint
sourceimpl From<SphericalJoint> for GenericJoint
impl From<SphericalJoint> for GenericJoint
sourcefn from(joint: SphericalJoint) -> GenericJoint
fn from(joint: SphericalJoint) -> GenericJoint
sourceimpl From<SphericalJointBuilder> for GenericJoint
impl From<SphericalJointBuilder> for GenericJoint
sourcefn from(joint: SphericalJointBuilder) -> GenericJoint
fn from(joint: SphericalJointBuilder) -> GenericJoint
sourceimpl PartialEq<GenericJoint> for GenericJoint
impl PartialEq<GenericJoint> for GenericJoint
sourcefn eq(&self, other: &GenericJoint) -> bool
fn eq(&self, other: &GenericJoint) -> bool
sourceimpl Serialize for GenericJoint
impl Serialize for GenericJoint
impl Copy for GenericJoint
impl StructuralPartialEq for GenericJoint
Auto Trait Implementations
impl RefUnwindSafe for GenericJoint
impl Send for GenericJoint
impl Sync for GenericJoint
impl Unpin for GenericJoint
impl UnwindSafe for GenericJoint
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