Struct rapier3d::dynamics::MultibodyJoint [−][src]
pub struct MultibodyJoint {
pub data: JointData,
// some fields omitted
}
Fields
data: JointData
Implementations
The position of the multibody link containing this multibody_joint relative to its parent.
Integrate the position of this multibody_joint.
Apply a displacement to the multibody_joint.
Update the jacobians of this multibody_joint.
Sets in out
the non-zero entries of the multibody_joint jacobian transformed by transform
.
Sets in out
the non-zero entries of the time-derivative of the multibody_joint jacobian transformed by transform
.
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry<Real>,
acc: &[Real],
out: &mut JacobianSliceMut<'_, Real>
)
pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry<Real>,
acc: &[Real],
out: &mut JacobianSliceMut<'_, Real>
)
Sets in out
the non-zero entries of the velocity-derivative of the time-derivative of the multibody_joint jacobian transformed by transform
.
Multiply the multibody_joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this multibody_joint.
Multiply the multibody_joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this multibody_joint.
Fill out
with the non-zero entries of a damping that can be applied by default to ensure a good stability of the multibody_joint.
Maximum number of velocity constrains that can be generated by this multibody_joint.
pub fn velocity_constraints(
&self,
params: &IntegrationParameters,
multibody: &Multibody,
link: &MultibodyLink,
dof_id: usize,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
constraints: &mut Vec<AnyJointVelocityConstraint>
)
pub fn velocity_constraints(
&self,
params: &IntegrationParameters,
multibody: &Multibody,
link: &MultibodyLink,
dof_id: usize,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
constraints: &mut Vec<AnyJointVelocityConstraint>
)
Initialize and generate velocity constraints to enforce, e.g., multibody_joint limits and motors.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for MultibodyJoint
impl Send for MultibodyJoint
impl Sync for MultibodyJoint
impl Unpin for MultibodyJoint
impl UnwindSafe for MultibodyJoint
Blanket Implementations
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