Struct heron::rapier_plugin::rapier2d::prelude::GenericJoint

pub struct GenericJoint {
    pub local_frame1: Isometry<f32, Unit<Complex<f32>>, 2>,
    pub local_frame2: Isometry<f32, Unit<Complex<f32>>, 2>,
    pub locked_axes: JointAxesMask,
    pub limit_axes: JointAxesMask,
    pub motor_axes: JointAxesMask,
    pub coupled_axes: JointAxesMask,
    pub limits: [JointLimits<f32>; 3],
    pub motors: [JointMotor; 3],
}

A generic joint.

Fields

local_frame1: Isometry<f32, Unit<Complex<f32>>, 2>

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

local_frame2: Isometry<f32, Unit<Complex<f32>>, 2>

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

locked_axes: JointAxesMask

The degrees-of-freedoms locked by this joint.

limit_axes: JointAxesMask

The degrees-of-freedoms limited by this joint.

motor_axes: JointAxesMask

The degrees-of-freedoms motorised by this joint.

coupled_axes: JointAxesMask

The coupled degrees of freedom of this joint.

limits: [JointLimits<f32>; 3]

The limits, along each degrees of freedoms of this joint.

Note that the limit must also be explicitly enabled by the limit_axes bitmask.

motors: [JointMotor; 3]

The motors, along each degrees of freedoms of this joint.

Note that the mostor must also be explicitly enabled by the motors bitmask.

Implementations

impl GenericJoint

pub fn new(locked_axes: JointAxesMask) -> GenericJoint

Creates a new generic joint that locks the specified degrees of freedom.

pub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut GenericJoint

Add the specified axes to the set of axes locked by this joint.

pub fn set_local_frame1(
    &mut self,
    local_frame: Isometry<f32, Unit<Complex<f32>>, 2>
) -> &mut GenericJoint

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

pub fn set_local_frame2(
    &mut self,
    local_frame: Isometry<f32, Unit<Complex<f32>>, 2>
) -> &mut GenericJoint

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

pub fn local_axis1(
    &self
) -> Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>

The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.

pub fn set_local_axis1(
    &mut self,
    local_axis: Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>
) -> &mut GenericJoint

Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.

pub fn local_axis2(
    &self
) -> Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>

The principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.

pub fn set_local_axis2(
    &mut self,
    local_axis: Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>
) -> &mut GenericJoint

Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.

pub fn local_anchor1(&self) -> OPoint<f32, Const<2>>

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

pub fn set_local_anchor1(
    &mut self,
    anchor1: OPoint<f32, Const<2>>
) -> &mut GenericJoint

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

pub fn local_anchor2(&self) -> OPoint<f32, Const<2>>

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

pub fn set_local_anchor2(
    &mut self,
    anchor2: OPoint<f32, Const<2>>
) -> &mut GenericJoint

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

pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<f32>>

The joint limits along the specified axis.

pub fn set_limits(
    &mut self,
    axis: JointAxis,
    limits: [f32; 2]
) -> &mut GenericJoint

Sets the joint limits along the specified axis.

pub fn motor_model(&self, axis: JointAxis) -> Option<MotorModel>

The spring-like motor model along the specified axis of this joint.

pub fn set_motor_model(
    &mut self,
    axis: JointAxis,
    model: MotorModel
) -> &mut GenericJoint

Set the spring-like model used by the motor to reach the desired target velocity and position.

pub fn set_motor_velocity(
    &mut self,
    axis: JointAxis,
    target_vel: f32,
    factor: f32
) -> &mut GenericJoint

Sets the target velocity this motor needs to reach.

pub fn set_motor_position(
    &mut self,
    axis: JointAxis,
    target_pos: f32,
    stiffness: f32,
    damping: f32
) -> &mut GenericJoint

Sets the target angle this motor needs to reach.

pub fn set_motor_max_force(
    &mut self,
    axis: JointAxis,
    max_force: f32
) -> &mut GenericJoint

Sets the maximum force the motor can deliver along the specified axis.

pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>

The motor affecting the joint’s degree of freedom along the specified axis.

pub fn set_motor(
    &mut self,
    axis: JointAxis,
    target_pos: f32,
    target_vel: f32,
    stiffness: f32,
    damping: f32
) -> &mut GenericJoint

Configure both the target angle and target velocity of the motor.

impl GenericJoint

pub fn as_revolute(&self) -> Option<&RevoluteJoint>

Converts the joint to its specific variant, if it is one.

pub fn as_revolute_mut(&mut self) -> Option<&mut RevoluteJoint>

Converts the joint to its specific mutable variant, if it is one.

pub fn as_fixed(&self) -> Option<&FixedJoint>

Converts the joint to its specific variant, if it is one.

pub fn as_fixed_mut(&mut self) -> Option<&mut FixedJoint>

Converts the joint to its specific mutable variant, if it is one.

pub fn as_prismatic(&self) -> Option<&PrismaticJoint>

Converts the joint to its specific variant, if it is one.

pub fn as_prismatic_mut(&mut self) -> Option<&mut PrismaticJoint>

Converts the joint to its specific mutable variant, if it is one.

Trait Implementations

impl Clone for GenericJoint

fn clone(&self) -> GenericJoint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for GenericJoint

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

Formats the value using the given formatter.

impl Default for GenericJoint

fn default() -> GenericJoint

Returns the “default value” for a type.

impl Into<GenericJoint> for FixedJoint

fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

impl Into<GenericJoint> for FixedJointBuilder

fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

impl Into<GenericJoint> for GenericJointBuilder

fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

impl Into<GenericJoint> for PrismaticJoint

fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

impl Into<GenericJoint> for PrismaticJointBuilder

fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

impl Into<GenericJoint> for RevoluteJoint

fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

impl Into<GenericJoint> for RevoluteJointBuilder

fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

impl PartialEq<GenericJoint> for GenericJoint

fn eq(&self, other: &GenericJoint) -> 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 Copy for GenericJoint

impl StructuralPartialEq for GenericJoint