Struct rapier3d::dynamics::BallJoint [−][src]
A joint that removes all relative linear motion between a pair of points on two bodies.
Fields
local_anchor1: Point<Real>
Where the ball joint is attached on the first body, expressed in the first body local frame.
local_anchor2: Point<Real>
Where the ball joint is attached on the first body, expressed in the first body local frame.
impulse: Vector<Real>
The impulse applied by this joint on the first body.
The impulse applied to the second body is given by -impulse
.
motor_target_vel: Vector<Real>
The target relative angular velocity the motor will attempt to reach.
motor_target_pos: Rotation<Real>
The target angular position of this joint, expressed as an axis-angle.
motor_stiffness: Real
The motor’s stiffness.
See the documentation of SpringModel
for more information on this parameter.
motor_damping: Real
The motor’s damping.
See the documentation of SpringModel
for more information on this parameter.
motor_max_impulse: Real
The maximal impulse the motor is able to deliver.
motor_impulse: Vector<Real>
The angular impulse applied by the motor.
motor_model: SpringModel
The spring-like model used by the motor to reach the target velocity and .
Implementations
impl BallJoint
[src]
pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self
[src]
Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
pub fn supports_simd_constraints(&self) -> bool
[src]
Can a SIMD constraint be used for resolving this joint?
pub fn configure_motor_model(&mut self, model: SpringModel)
[src]
Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn configure_motor_velocity(
&mut self,
target_vel: Vector<Real>,
factor: Real
)
[src]
&mut self,
target_vel: Vector<Real>,
factor: Real
)
Sets the target velocity and velocity correction factor this motor.
pub fn configure_motor_position(
&mut self,
target_pos: Rotation<Real>,
stiffness: Real,
damping: Real
)
[src]
&mut self,
target_pos: Rotation<Real>,
stiffness: Real,
damping: Real
)
Sets the target orientation this motor needs to reach.
pub fn configure_motor(
&mut self,
target_pos: Rotation<Real>,
target_vel: Vector<Real>,
stiffness: Real,
damping: Real
)
[src]
&mut self,
target_pos: Rotation<Real>,
target_vel: Vector<Real>,
stiffness: Real,
damping: Real
)
Configure both the target orientation and target velocity of the motor.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for BallJoint
impl Send for BallJoint
impl Sync for BallJoint
impl Unpin for BallJoint
impl UnwindSafe for BallJoint
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
[src]
T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
[src]
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
[src]
impl<T> Downcast for T where
T: Any,
[src]
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
impl<T> DowncastSync for T where
T: Send + Sync + Any,
[src]
T: Send + Sync + Any,
impl<T> From<T> for T
[src]
impl<T, U> Into<U> for T where
U: From<T>,
[src]
U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
[src]
pub fn is_in_subset(&self) -> bool
[src]
pub fn to_subset_unchecked(&self) -> SS
[src]
pub fn from_subset(element: &SS) -> SP
[src]
impl<T> ToOwned for T where
T: Clone,
[src]
T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
[src]
pub fn clone_into(&self, target: &mut T)
[src]
impl<T, U> TryFrom<U> for T where
U: Into<T>,
[src]
U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
[src]
impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
[src]
U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
[src]
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,