Struct RevoluteJoint

#[repr(transparent)]
pub struct RevoluteJoint {
    pub data: GenericJoint,
}

A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.

Fields

data: GenericJoint

The underlying joint data.

Implementations

impl RevoluteJoint

pub fn new(axis: Vect) -> Self

Creates a new revolute joint allowing only relative rotations along the specified axis.

This axis is expressed in the local-space of both rigid-bodies.

pub fn contacts_enabled(&self) -> bool

Are contacts between the attached rigid-bodies enabled?

pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self

Sets whether contacts between the attached rigid-bodies are enabled.

pub fn local_anchor1(&self) -> Vect

The joint’s anchor, expressed in the local-space of the first rigid-body.

pub fn set_local_anchor1(&mut self, anchor1: Vect) -> &mut Self

Sets the joint’s anchor, expressed in the local-space of the first rigid-body.

pub fn local_anchor2(&self) -> Vect

The joint’s anchor, expressed in the local-space of the second rigid-body.

pub fn set_local_anchor2(&mut self, anchor2: Vect) -> &mut Self

Sets the joint’s anchor, expressed in the local-space of the second rigid-body.

pub fn set_local_axis1(&mut self, axis1: Vect) -> &mut Self

Sets the joint’s rotation axis in the local-space of the first rigid-body

pub fn set_local_axis2(&mut self, axis2: Vect) -> &mut Self

Sets the joint’s rotation axis in the local-space of the second rigid-body

pub fn motor(&self) -> Option<&JointMotor>

The motor affecting the joint’s rotational degree of freedom.

pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self

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

pub fn set_motor_velocity( &mut self, target_vel: Real, factor: Real, ) -> &mut Self

Sets the target velocity this motor needs to reach.

pub fn set_motor_position( &mut self, target_pos: Real, stiffness: Real, damping: Real, ) -> &mut Self

Sets the target angle this motor needs to reach.

pub fn set_motor( &mut self, target_pos: Real, target_vel: Real, stiffness: Real, damping: Real, ) -> &mut Self

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

pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self

Sets the maximum force the motor can deliver.

pub fn limits(&self) -> Option<&JointLimits<Real>>

The limit angle attached bodies can translate along the joint’s principal axis.

pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self

Sets the [min,max] limit angle attached bodies can translate along the joint’s principal axis.

pub fn angle_from_handles( &self, bodies: &RigidBodySet, body1: RigidBodyHandle, body2: RigidBodyHandle, ) -> f32

The angle along the free degree of freedom of this revolute joint in [-π, π].

See also Self::angle for a version of this method taking entities instead of rigid-body handles. Similarly RapierContext::impulse_revolute_joint_angle only takes a single entity as argument to compute that angle.

Parameters

• bodies : the rigid body set from RapierRigidBodySet
• body1: the first rigid-body attached to this revolute joint, obtained through rapier::dynamics::ImpulseJoint or rapier::dynamics::MultibodyJoint.
• body2: the second rigid-body attached to this revolute joint, obtained through rapier::dynamics::ImpulseJoint or rapier::dynamics::MultibodyJoint.

pub fn angle( &self, rigidbody_set: &RapierRigidBodySet, body1: Entity, body2: Entity, ) -> f32

The angle along the free degree of freedom of this revolute joint in [-π, π].

Parameters

• bodies : the rigid body set from RapierRigidBodySet
• body1: the first rigid-body attached to this revolute joint.
• body2: the second rigid-body attached to this revolute joint.

Trait Implementations

impl Clone for RevoluteJoint

fn clone(&self) -> RevoluteJoint

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for RevoluteJoint

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for RevoluteJoint

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<RevoluteJoint> for GenericJoint

fn from(joint: RevoluteJoint) -> GenericJoint

Converts to this type from the input type.

impl From<RevoluteJoint> for TypedJoint

fn from(joint: RevoluteJoint) -> TypedJoint

Converts to this type from the input type.

impl PartialEq for RevoluteJoint

fn eq(&self, other: &RevoluteJoint) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for RevoluteJoint

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for RevoluteJoint

impl StructuralPartialEq for RevoluteJoint