Struct rapier3d::dynamics::BallJoint[−][src]

pub struct BallJoint {
    pub local_anchor1: Point<Real>,
    pub local_anchor2: Point<Real>,
    pub impulse: Vector<Real>,
    pub motor_target_vel: Vector<Real>,
    pub motor_target_pos: Rotation<Real>,
    pub motor_stiffness: Real,
    pub motor_damping: Real,
    pub motor_max_impulse: Real,
    pub motor_impulse: Vector<Real>,
    pub motor_model: SpringModel,
}

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]

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]

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]

Configure both the target orientation and target velocity of the motor.

Trait Implementations

impl Clone for BallJoint[src]

impl Copy for BallJoint[src]

impl From<BallJoint> for JointParams[src]

Auto Trait Implementations

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized, [src]

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

impl<T> Downcast for T where
    T: Any, [src]

impl<T> DowncastSync for T where
    T: Any + Send + Sync, [src]

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, [src]

impl<T> Pointable for T

type Init = T

The type for initializers.

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]

impl<T> ToOwned for T where
    T: Clone, [src]

type Owned = T

The resulting type after obtaining ownership.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

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The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

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