Struct nphysics2d::joint::FixedJoint [−][src]
Expand description
A joint that does not allow any relative degrees of freedom.
Implementations
Trait Implementations
The position of the multibody link containing this joint relative to its parent.
Update the jacobians of this joint.
Sets in out
the non-zero entries of the joint jacobian transformed by transform
.
Sets in out
the non-zero entries of the time-derivative of the joint jacobian transformed by transform
.
fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
Sets in out
the non-zero entries of the velocity-derivative of the time-derivative of the joint jacobian transformed by transform
.
Integrate the position of this joint.
Apply a displacement to the joint.
Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint. Read more
Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint. Read more
Fill out
with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.
The maximum number of impulses needed by this joints for its constraints. Read more
Maximum number of velocity constrains that can be generated by this joint.
fn velocity_constraints(
&self,
_params: &IntegrationParameters<N>,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_assembly_id: usize,
_dof_id: usize,
_ext_vels: &[N],
_ground_j_id: &mut usize,
_jacobians: &mut [N],
_velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)
fn velocity_constraints(
&self,
_params: &IntegrationParameters<N>,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_assembly_id: usize,
_dof_id: usize,
_ext_vels: &[N],
_ground_j_id: &mut usize,
_jacobians: &mut [N],
_velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)
Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.
The maximum number of non-linear position constraints that can be generated by this joint.
fn position_constraint(
&self,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_handle: BodyPartHandle<()>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
fn position_constraint(
&self,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_handle: BodyPartHandle<()>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
Initialize and generate the i-th position constraints to enforce, e.g., joint limits.
Auto Trait Implementations
impl<N> RefUnwindSafe for FixedJoint<N> where
N: RefUnwindSafe,
impl<N> Send for FixedJoint<N>
impl<N> Sync for FixedJoint<N>
impl<N> Unpin for FixedJoint<N> where
N: Unpin,
impl<N> UnwindSafe for FixedJoint<N> where
N: UnwindSafe,
Blanket Implementations
Mutably borrows from an owned value. Read more
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
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then be further downcast
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Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
Checks if self
is actually part of its subset T
(and can be converted to it).
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
The inclusion map: converts self
to the equivalent element of its superset.