Struct box2d_rs::joints::b2_revolute_joint::B2revoluteJoint

pub struct B2revoluteJoint<D: UserDataType> { /* fields omitted */ }

A revolute joint constrains two bodies to share a common point while they are free to rotate about the point. The relative rotation about the shared point is the joint angle. You can limit the relative rotation with a joint limit that specifies a lower and upper angle. You can use a motor to drive the relative rotation about the shared point. A maximum motor torque is provided so that infinite forces are not generated.

Implementations

impl<D: UserDataType> B2revoluteJoint<D>

pub fn get_local_anchor_a(&self) -> B2vec2

The local anchor point relative to body_a's origin.

pub fn get_local_anchor_b(&self) -> B2vec2

The local anchor point relative to body_b's origin.

pub fn get_reference_angle(&self) -> f32

Get the reference angle.

pub fn get_joint_angle(&self) -> f32

Get the current joint angle in radians.

pub fn get_joint_speed(&self) -> f32

Get the current joint angle speed in radians per second.

pub fn is_limit_enabled(&self) -> bool

Is the joint limit enabled?

pub fn enable_limit(&mut self, flag: bool)

Enable/disable the joint limit.

pub fn get_lower_limit(&self) -> f32

Get the lower joint limit in radians.

pub fn get_upper_limit(&self) -> f32

Get the upper joint limit in radians.

pub fn set_limits(&mut self, lower: f32, upper: f32)

Set the joint limits in radians.

pub fn is_motor_enabled(&self) -> bool

Is the joint motor enabled?

pub fn enable_motor(&mut self, flag: bool)

Enable/disable the joint motor.

pub fn set_motor_speed(&mut self, speed: f32)

Set the motor speed in radians per second.

pub fn get_motor_speed(&self) -> f32

Get the motor speed in radians per second.

pub fn set_max_motor_torque(&mut self, torque: f32)

Set the maximum motor torque, usually in n-m.

pub fn get_max_motor_torque(&self) -> f32

pub fn get_motor_torque(&self, inv_dt: f32) -> f32

Get the current motor torque given the inverse time step. Unit is n*m.

Trait Implementations

impl<D: UserDataType> B2jointTraitDyn<D> for B2revoluteJoint<D>

pub fn get_base(&self) -> &B2joint<D>

pub fn get_base_mut(&mut self) -> &mut B2joint<D>

pub fn get_anchor_a(&self) -> B2vec2

Get the anchor point on body_a in world coordinates.

pub fn get_anchor_b(&self) -> B2vec2

Get the anchor point on body_b in world coordinates.

pub fn get_reaction_force(&self, inv_dt: f32) -> B2vec2

Get the reaction force given the inverse time step. Unit is n.

pub fn get_reaction_torque(&self, inv_dt: f32) -> f32

Get the reaction torque due to the joint limit given the inverse time step. Unit is n*m.

pub fn init_velocity_constraints(
    &mut self,
    data: &mut B2solverData,
    positions: &mut [B2position],
    velocities: &mut [B2velocity]
)

pub fn solve_velocity_constraints(
    &mut self,
    data: &mut B2solverData,
    velocities: &mut [B2velocity]
)

pub fn solve_position_constraints(
    &mut self,
    data: &mut B2solverData,
    positions: &mut [B2position]
) -> bool

pub fn dump(&self)

dump joint to dmLog

pub fn draw(&self, draw: &mut dyn B2drawTrait)

Debug draw this joint

pub fn shift_origin(&mut self, new_origin: B2vec2)

Shift the origin for any points stored in world coordinates.

impl<D: UserDataType> ToDerivedJoint<D> for B2revoluteJoint<D>

pub fn as_derived(&self) -> JointAsDerived<'_, D>

pub fn as_derived_mut(&mut self) -> JointAsDerivedMut<'_, D>