Struct heron::rapier_plugin::rapier2d::prelude::BallJoint [−]
pub struct BallJoint {Show 15 fields
pub local_anchor1: OPoint<f32, Const<2_usize>>,
pub local_anchor2: OPoint<f32, Const<2_usize>>,
pub impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
pub motor_target_vel: f32,
pub motor_target_pos: Unit<Complex<f32>>,
pub motor_stiffness: f32,
pub motor_damping: f32,
pub motor_max_impulse: f32,
pub motor_impulse: f32,
pub motor_model: SpringModel,
pub limits_enabled: bool,
pub limits_local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
pub limits_local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
pub limits_angle: f32,
pub limits_impulse: f32,
}
Expand description
A joint that removes all relative linear motion between a pair of points on two bodies.
Fields
local_anchor1: OPoint<f32, Const<2_usize>>
Where the ball joint is attached on the first body, expressed in the first body local frame.
local_anchor2: OPoint<f32, Const<2_usize>>
Where the ball joint is attached on the second body, expressed in the second body local frame.
impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
The impulse applied by this joint on the first body.
The impulse applied to the second body is given by -impulse
.
motor_target_vel: f32
The target relative angular velocity the motor will attempt to reach.
motor_target_pos: Unit<Complex<f32>>
The target angular position of this joint, expressed as an axis-angle.
motor_stiffness: f32
The motor’s stiffness.
See the documentation of SpringModel
for more information on this parameter.
motor_damping: f32
The motor’s damping.
See the documentation of SpringModel
for more information on this parameter.
motor_max_impulse: f32
The maximal impulse the motor is able to deliver.
motor_impulse: f32
The angular impulse applied by the motor.
motor_model: SpringModel
The spring-like model used by the motor to reach the target velocity and .
limits_enabled: bool
Are the limits enabled for this joint?
limits_local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
The axis of the limit cone for this joint, if the local-space of the first body.
limits_local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
The axis of the limit cone for this joint, if the local-space of the first body.
limits_angle: f32
The maximum angle allowed between the two limit axes in world-space.
limits_impulse: f32
The impulse applied to enforce joint limits.
Implementations
impl BallJoint
impl BallJoint
Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
pub fn supports_simd_constraints(&self) -> bool
pub fn supports_simd_constraints(&self) -> bool
Can a SIMD constraint be used for resolving this joint?
pub fn configure_motor_model(&mut self, model: SpringModel)
pub fn configure_motor_model(&mut self, model: SpringModel)
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: f32, factor: f32)
pub fn configure_motor_velocity(&mut self, target_vel: f32, factor: f32)
Sets the target velocity and velocity correction factor this motor.
Sets the target orientation this motor needs to reach.
Trait Implementations
impl From<BallJoint> for JointParams
impl From<BallJoint> for JointParams
pub fn from(j: BallJoint) -> JointParams
pub fn from(j: BallJoint) -> JointParams
Performs the conversion.
impl StructuralPartialEq for BallJoint
Auto Trait Implementations
impl RefUnwindSafe for BallJoint
impl UnwindSafe for BallJoint
Blanket Implementations
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