Struct rapier3d::dynamics::SpringJoint

#[repr(transparent)]
pub struct SpringJoint {
    pub data: GenericJoint,
}

A spring-damper joint, applies a force proportional to the distance between two objects.

The spring is integrated implicitly, implying that even an undamped spring will be subject to some amount of numerical damping (so it will eventually come to a rest). More solver iterations, or smaller timesteps, will lower the effect of numerical damping, providing a more realistic result.

Fields

data: GenericJoint

The underlying joint data.

Implementations

impl SpringJoint

pub fn new(rest_length: Real, stiffness: Real, damping: Real) -> Self

Creates a new spring joint limiting the max distance between two bodies.

The max_dist must be strictly greater than 0.0.

pub fn data(&self) -> &GenericJoint

The underlying generic joint.

pub fn contacts_enabled(&self) -> bool

Are contacts between the attached rigid-bodies enabled?

pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self

Sets whether contacts between the attached rigid-bodies are enabled.

pub fn local_anchor1(&self) -> Point<Real>

The joint’s anchor, expressed in the local-space of the first rigid-body.

pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self

Sets the joint’s anchor, expressed in the local-space of the first rigid-body.

pub fn local_anchor2(&self) -> Point<Real>

The joint’s anchor, expressed in the local-space of the second rigid-body.

pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self

Sets the joint’s anchor, expressed in the local-space of the second rigid-body.

pub fn set_spring_model(&mut self, model: MotorModel) -> &mut Self

Set the spring model used by this joint to reach the desired target velocity and position.

Setting this to MotorModel::ForceBased (which is the default value for this joint) makes the spring constants (stiffness and damping) parameter understood as in the regular spring-mass-damper system. With MotorModel::AccelerationBased, the spring constants will be automatically scaled by the attached masses, making the spring more mass-independent.

Trait Implementations

impl Clone for SpringJoint

fn clone(&self) -> SpringJoint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for SpringJoint

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for SpringJoint

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<SpringJoint> for GenericJoint

fn from(val: SpringJoint) -> GenericJoint

Converts to this type from the input type.

impl PartialEq for SpringJoint

fn eq(&self, other: &SpringJoint) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for SpringJoint

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 SpringJoint

impl StructuralPartialEq for SpringJoint