Struct heron::rapier_plugin::rapier::dynamics::BallJoint [−]
pub struct BallJoint { pub local_anchor1: Point<f32, 3_usize>, pub local_anchor2: Point<f32, 3_usize>, pub impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>, pub motor_target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>, pub motor_target_pos: Unit<Quaternion<f32>>, pub motor_stiffness: f32, pub motor_damping: f32, pub motor_max_impulse: f32, pub motor_impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>, pub motor_model: SpringModel, }
A joint that removes all relative linear motion between a pair of points on two bodies.
Fields
local_anchor1: Point<f32, 3_usize>
Where the ball joint is attached on the first body, expressed in the first body local frame.
local_anchor2: Point<f32, 3_usize>
Where the ball joint is attached on the first body, expressed in the first body local frame.
impulse: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_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: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
The target relative angular velocity the motor will attempt to reach.
motor_target_pos: Unit<Quaternion<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: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
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
pub fn new(
local_anchor1: Point<f32, 3_usize>,
local_anchor2: Point<f32, 3_usize>
) -> BallJoint
local_anchor1: Point<f32, 3_usize>,
local_anchor2: Point<f32, 3_usize>
) -> 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
Can a SIMD constraint be used for resolving this joint?
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: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
factor: f32
)
&mut self,
target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
factor: f32
)
Sets the target velocity and velocity correction factor this motor.
pub fn configure_motor_position(
&mut self,
target_pos: Unit<Quaternion<f32>>,
stiffness: f32,
damping: f32
)
&mut self,
target_pos: Unit<Quaternion<f32>>,
stiffness: f32,
damping: f32
)
Sets the target orientation this motor needs to reach.
pub fn configure_motor(
&mut self,
target_pos: Unit<Quaternion<f32>>,
target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
stiffness: f32,
damping: f32
)
&mut self,
target_pos: Unit<Quaternion<f32>>,
target_vel: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
stiffness: f32,
damping: f32
)
Configure both the target orientation and target velocity of the motor.
Trait Implementations
impl Clone for BallJoint
pub fn clone(&self) -> BallJoint
pub fn clone_from(&mut self, source: &Self)
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impl Copy for BallJoint
impl From<BallJoint> for JointParams
pub fn from(j: BallJoint) -> JointParams
Auto Trait Implementations
impl RefUnwindSafe for BallJoint
impl Send for BallJoint
impl Sync for BallJoint
impl Unpin for BallJoint
impl UnwindSafe for BallJoint
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CloneAny for T where
T: Any + Clone,
T: Any + Clone,
impl<T> Component for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Downcast for T where
T: Any,
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> Downcast<T> for T
impl<T> DowncastSync for T where
T: Any + Send + Sync,
T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T> Instrument for T
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pub fn instrument(self, span: Span) -> Instrumented<Self>
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pub fn in_current_span(self) -> Instrumented<Self>
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn to_subset_unchecked(&self) -> SS
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
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