Struct rapier3d::dynamics::RevoluteJoint [−][src]
A joint that removes all relative motion between two bodies, except for the rotations along one axis.
Fields
local_anchor1: Point<Real>
Where the revolute joint is attached on the first body, expressed in the local space of the first attached body.
local_anchor2: Point<Real>
Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.
local_axis1: Unit<Vector<Real>>
The rotation axis of this revolute joint expressed in the local space of the first attached body.
local_axis2: Unit<Vector<Real>>
The rotation axis of this revolute joint expressed in the local space of the second attached body.
basis1: [Vector<Real>; 2]
The basis orthonormal to local_axis1
, expressed in the local space of the first attached body.
basis2: [Vector<Real>; 2]
The basis orthonormal to local_axis2
, expressed in the local space of the second attached body.
impulse: Vector5<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: Real
The target relative angular velocity the motor will attempt to reach.
motor_target_pos: Real
The target relative angle along the joint axis the motor will attempt to reach.
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: 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 RevoluteJoint
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pub fn new(
local_anchor1: Point<Real>,
local_axis1: Unit<Vector<Real>>,
local_anchor2: Point<Real>,
local_axis2: Unit<Vector<Real>>
) -> Self
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local_anchor1: Point<Real>,
local_axis1: Unit<Vector<Real>>,
local_anchor2: Point<Real>,
local_axis2: Unit<Vector<Real>>
) -> Self
Creates a new revolute joint with the given point of applications and axis, all expressed in the local-space of the affected bodies.
pub fn supports_simd_constraints(&self) -> bool
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Can a SIMD constraint be used for resolving this joint?
pub fn configure_motor_model(&mut self, model: SpringModel)
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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: Real, factor: Real)
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Sets the target velocity this motor needs to reach.
pub fn configure_motor_position(
&mut self,
target_pos: Real,
stiffness: Real,
damping: Real
)
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&mut self,
target_pos: Real,
stiffness: Real,
damping: Real
)
Sets the target angle this motor needs to reach.
pub fn configure_motor(
&mut self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real
)
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&mut self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real
)
Configure both the target angle and target velocity of the motor.
pub fn estimate_motor_angle(
&self,
body_pos1: &Isometry<Real>,
body_pos2: &Isometry<Real>
) -> Real
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&self,
body_pos1: &Isometry<Real>,
body_pos2: &Isometry<Real>
) -> Real
Estimates the current position of the motor angle.
Trait Implementations
impl Clone for RevoluteJoint
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fn clone(&self) -> RevoluteJoint
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
impl Copy for RevoluteJoint
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impl From<RevoluteJoint> for JointParams
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fn from(j: RevoluteJoint) -> Self
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Auto Trait Implementations
impl RefUnwindSafe for RevoluteJoint
impl Send for RevoluteJoint
impl Sync for RevoluteJoint
impl Unpin for RevoluteJoint
impl UnwindSafe for RevoluteJoint
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
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,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
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> 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>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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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.
pub 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.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,