Struct heron::rapier_plugin::rapier::dynamics::PrismaticJoint [−]
pub struct PrismaticJoint {Show fields
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, 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
}A joint that removes all relative motion between two bodies, except for the translations along one axis.
Fields
local_anchor1: Point<f32, 3_usize>Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body.
local_anchor2: Point<f32, 3_usize>Where the prismatic joint is attached on the second body, 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: boolWhether 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: f32The 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: f32The target relative angular velocity the motor will attempt to reach.
motor_target_pos: f32The target relative angle along the joint axis the motor will attempt to reach.
motor_stiffness: f32The motor’s stiffness.
See the documentation of SpringModel for more information on this parameter.
motor_damping: f32The motor’s damping.
See the documentation of SpringModel for more information on this parameter.
motor_max_impulse: f32The maximal impulse the motor is able to deliver.
motor_impulse: f32The angular impulse applied by the motor.
motor_model: SpringModelThe spring-like model used by the motor to reach the target velocity and .
Implementations
impl PrismaticJoint
pub fn new(
local_anchor1: Point<f32, 3_usize>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_tangent1: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
local_anchor2: Point<f32, 3_usize>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_tangent2: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PrismaticJoint
local_anchor1: Point<f32, 3_usize>,
local_axis1: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_tangent1: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
local_anchor2: Point<f32, 3_usize>,
local_axis2: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>,
local_tangent2: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> PrismaticJoint
Creates a new prismatic joint with the given point of applications and axis, all expressed in the local-space of the affected bodies.
The local tangent are vector orthogonal to the local axis. It is used to compute a basis orthonormal to the joint’s axis. If this tangent is set to zero, te orthonormal basis will be automatically computed arbitrarily.
pub fn local_axis1(
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
The local axis of this joint, expressed in the local-space of the first attached body.
pub fn local_axis2(
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
&self
) -> Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
The local axis of this joint, expressed in the local-space of the second attached body.
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: 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
)
&mut self,
target_pos: f32,
stiffness: f32,
damping: f32
)
Sets the target position this motor needs to reach.
pub fn configure_motor(
&mut self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
)
&mut self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
)
Configure both the target position and target velocity of the motor.
Trait Implementations
impl Clone for PrismaticJoint
pub fn clone(&self) -> PrismaticJoint
pub fn clone_from(&mut self, source: &Self)1.0.0[src]
impl Copy for PrismaticJoint
impl From<PrismaticJoint> for JointParams
pub fn from(j: PrismaticJoint) -> JointParams
Auto Trait Implementations
impl RefUnwindSafe for PrismaticJoint
impl Send for PrismaticJoint
impl Sync for PrismaticJoint
impl Unpin for PrismaticJoint
impl UnwindSafe for PrismaticJoint
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized, [src]
T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
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T: ?Sized, [src]
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pub fn borrow_mut(&mut self) -> &mut T[src]
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U: From<T>, [src]
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The type for initializers.
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The resulting type after obtaining ownership.
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