Struct rapier3d::dynamics::MultibodyJoint

pub struct MultibodyJoint {
    pub data: GenericJoint,
    /* private fields */
}

An joint attached to two bodies based on the reduced coordinates formalism.

Fields

data: GenericJoint

The joint’s description.

Implementations

impl MultibodyJoint

pub fn new(data: GenericJoint) -> Self

Creates a new multibody joint from its description.

pub fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the multibody_joint.

pub fn body_to_parent(&self) -> Isometry<Real>

The position of the multibody link containing this multibody_joint relative to its parent.

pub fn integrate(&mut self, dt: Real, vels: &[Real])

Integrate the position of this multibody_joint.

pub fn apply_displacement(&mut self, disp: &[Real])

Apply a displacement to the multibody_joint.

pub fn jacobian( &self, transform: &Rotation<Real>, out: &mut JacobianViewMut<'_, Real> )

Sets in out the non-zero entries of the multibody_joint jacobian transformed by transform.

pub fn jacobian_mul_coordinates(&self, acc: &[Real]) -> RigidBodyVelocity

Multiply the multibody_joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this multibody_joint.

pub fn default_damping(&self, out: &mut DVectorViewMut<'_, Real>)

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.

pub fn num_velocity_constraints(&self) -> usize

Maximum number of velocity constrains that can be generated by this multibody_joint.

pub fn velocity_constraints( &self, params: &IntegrationParameters, multibody: &Multibody, link: &MultibodyLink, j_id: usize, jacobians: &mut DVector<Real>, constraints: &mut [JointGenericOneBodyConstraint] ) -> usize

Initialize and generate velocity constraints to enforce, e.g., multibody_joint limits and motors.

Trait Implementations

impl Clone for MultibodyJoint

fn clone(&self) -> MultibodyJoint

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MultibodyJoint

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for MultibodyJoint

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for MultibodyJoint

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Copy for MultibodyJoint