Struct heron::rapier_plugin::rapier3d::dynamics::RevoluteJoint [−]
pub struct RevoluteJoint {Show 17 fields
pub local_anchor1: OPoint<f32, Const<3_usize>>,
pub local_anchor2: OPoint<f32, Const<3_usize>>,
pub local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
pub local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
pub basis1: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2],
pub basis2: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2],
pub impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 5_usize, 1_usize>>,
pub limits_enabled: bool,
pub limits: [f32; 2],
pub limits_impulse: f32,
pub motor_target_vel: f32,
pub motor_target_pos: f32,
pub motor_stiffness: f32,
pub motor_damping: f32,
pub motor_max_impulse: f32,
pub motor_impulse: f32,
pub motor_model: SpringModel,
// some fields omitted
}
Expand description
A joint that removes all relative motion between two bodies, except for the rotations along one axis.
Fields
local_anchor1: OPoint<f32, Const<3_usize>>
Where the revolute joint is attached on the first body, expressed in the local space of the first attached body.
local_anchor2: OPoint<f32, Const<3_usize>>
Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
The rotation axis of this revolute joint expressed in the local space of the first attached body.
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
The rotation axis of this revolute joint expressed in the local space of the second attached body.
basis1: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2]
The basis orthonormal to local_axis1
, expressed in the local space of the first attached body.
basis2: [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>; 2]
The basis orthonormal to local_axis2
, expressed in the local space of the second attached body.
impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 5_usize, 1_usize>>
The impulse applied by this joint on the first body.
The impulse applied to the second body is given by -impulse
.
limits_enabled: bool
Whether or not this joint should enforce translational limits along its axis.
limits: [f32; 2]
The min an max relative position of the attached bodies along this joint’s axis.
limits_impulse: f32
The impulse applied by this joint on the first body to enforce the position limit along this joint’s axis.
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: f32
The target relative angle along the joint axis the motor will attempt to reach.
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 .
Implementations
impl RevoluteJoint
impl RevoluteJoint
pub fn new(
local_anchor1: OPoint<f32, Const<3_usize>>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_anchor2: OPoint<f32, Const<3_usize>>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> RevoluteJoint
pub fn new(
local_anchor1: OPoint<f32, Const<3_usize>>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_anchor2: OPoint<f32, Const<3_usize>>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> RevoluteJoint
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
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 this motor needs to reach.
pub fn configure_motor_position(
&mut self,
target_pos: f32,
stiffness: f32,
damping: f32
)
pub fn configure_motor_position(
&mut self,
target_pos: f32,
stiffness: f32,
damping: f32
)
Sets the target angle this motor needs to reach.
pub fn configure_motor(
&mut self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
)
pub fn configure_motor(
&mut self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
)
Configure both the target angle and target velocity of the motor.
pub fn estimate_motor_angle(
&self,
body_pos1: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
body_pos2: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> f32
pub fn estimate_motor_angle(
&self,
body_pos1: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
body_pos2: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> f32
Estimates the current position of the motor angle.
pub fn estimate_motor_angle_from_params(
axis1: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
tangent1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
tangent2: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
motor_last_angle: f32
) -> f32
pub fn estimate_motor_angle_from_params(
axis1: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
tangent1: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
tangent2: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
motor_last_angle: f32
) -> f32
Estimates the current position of the motor angle given the joint parameters.
Trait Implementations
impl Clone for RevoluteJoint
impl Clone for RevoluteJoint
pub fn clone(&self) -> RevoluteJoint
pub fn clone(&self) -> RevoluteJoint
Returns a copy of the value. Read more
Performs copy-assignment from source
. Read more
impl From<RevoluteJoint> for JointParams
impl From<RevoluteJoint> for JointParams
pub fn from(j: RevoluteJoint) -> JointParams
pub fn from(j: RevoluteJoint) -> JointParams
Performs the conversion.
impl PartialEq<RevoluteJoint> for RevoluteJoint
impl PartialEq<RevoluteJoint> for RevoluteJoint
pub fn eq(&self, other: &RevoluteJoint) -> bool
pub fn eq(&self, other: &RevoluteJoint) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
pub fn ne(&self, other: &RevoluteJoint) -> bool
pub fn ne(&self, other: &RevoluteJoint) -> bool
This method tests for !=
.
impl Copy for RevoluteJoint
impl StructuralPartialEq for RevoluteJoint
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
Mutably borrows from an owned value. Read more
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T: Any,
impl<T> Downcast for T where
T: Any,
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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(where Trait: Downcast
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. Rc<Any>
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) to &Any
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
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’s vtable from &mut Trait
’s. Read more
impl<T> Pointable for T
impl<T> Pointable for T
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SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
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pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
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pub fn to_subset_unchecked(&self) -> SS
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Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V
Attaches the provided Subscriber
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