[−][src]Struct nphysics3d::joint::PrismaticJoint
A unit joint that allows only one translational degree on freedom.
Methods
impl<N: RealField> PrismaticJoint<N>
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pub fn new(axis: Unit<Vector<N>>, offset: N) -> Self
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Create a new prismatic joint where the allowed traslation is defined along the provided axis.
The axis is expressed in the local coordinate system of the two multibody links attached to this joint.
pub fn offset(&self) -> N
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The relative displacement of the attached multibody links along the joint axis.
pub fn translation(&self) -> Translation<N>
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The relative translation of the attached multibody links along the joint axis.
pub fn min_offset(&self) -> Option<N>
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The lower limit of the relative displacement of the attached multibody links along the joint axis.
pub fn max_offset(&self) -> Option<N>
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The upper limit of the relative displacement of the attached multibody links along the joint axis.
pub fn disable_min_offset(&mut self)
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Disable the lower limit of the relative displacement of the attached multibody links along the joint axis.
pub fn disable_max_offset(&mut self)
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Disable the upper limit of the relative displacement of the attached multibody links along the joint axis.
pub fn enable_min_offset(&mut self, limit: N)
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Set the lower limit of the relative displacement of the attached multibody links along the joint axis.
pub fn enable_max_offset(&mut self, limit: N)
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Set the upper limit of the relative displacement of the attached multibody links along the joint axis.
pub fn is_linear_motor_enabled(&self) -> bool
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Returns true
if the joint motor is enabled.
pub fn enable_linear_motor(&mut self)
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Enable the joint motor.
pub fn disable_linear_motor(&mut self)
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Disable the joint motor.
pub fn desired_linear_motor_velocity(&self) -> N
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The desired relative velocity to be enforced by the joint motor.
pub fn set_desired_linear_motor_velocity(&mut self, vel: N)
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Set the desired relative velocity to be enforced by the joint motor.
pub fn max_linear_motor_force(&self) -> N
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The maximum force that can be output by the joint motor.
pub fn set_max_linear_motor_force(&mut self, force: N)
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Set the maximum force that can be output by the joint motor.
Trait Implementations
impl<N: RealField> Joint<N> for PrismaticJoint<N>
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fn ndofs(&self) -> usize
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fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
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&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])
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fn jacobian(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<N>)
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fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<N>)
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fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<N>
)
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&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<N>
)
fn default_damping(&self, _: &mut DVectorSliceMut<N>)
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fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
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fn apply_displacement(&mut self, disp: &[N])
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fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>
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fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>
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fn clone(&self) -> Box<dyn Joint<N>>
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fn num_velocity_constraints(&self) -> usize
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fn velocity_constraints(
&self,
parameters: &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],
constraints: &mut ConstraintSet<N, (), (), usize>
)
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&self,
parameters: &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],
constraints: &mut ConstraintSet<N, (), (), usize>
)
fn num_position_constraints(&self) -> usize
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fn position_constraint(
&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
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&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
fn nimpulses(&self) -> usize
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The maximum number of impulses needed by this joints for its constraints. Read more
impl<N: RealField> UnitJoint<N> for PrismaticJoint<N>
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fn position(&self) -> N
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fn motor(&self) -> &JointMotor<N, N>
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fn min_position(&self) -> Option<N>
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fn max_position(&self) -> Option<N>
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impl<N: Clone + RealField> Clone for PrismaticJoint<N>
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fn clone(&self) -> PrismaticJoint<N>
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fn clone_from(&mut self, source: &Self)
1.0.0[src]
Performs copy-assignment from source
. Read more
impl<N: Copy + RealField> Copy for PrismaticJoint<N>
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impl<N: Debug + RealField> Debug for PrismaticJoint<N>
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Auto Trait Implementations
impl<N> Send for PrismaticJoint<N> where
N: Scalar,
N: Scalar,
impl<N> Unpin for PrismaticJoint<N> where
N: Scalar + Unpin,
N: Scalar + Unpin,
impl<N> Sync for PrismaticJoint<N> where
N: Scalar,
N: Scalar,
impl<N> UnwindSafe for PrismaticJoint<N> where
N: Scalar + UnwindSafe,
N: Scalar + UnwindSafe,
impl<N> RefUnwindSafe for PrismaticJoint<N> where
N: RefUnwindSafe + Scalar,
N: RefUnwindSafe + Scalar,
Blanket Implementations
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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unsafe fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> Slottable for T where
T: Copy,
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T: Copy,