Struct heron::rapier_plugin::rapier2d::prelude::GenericJointBuilder
pub struct GenericJointBuilder(_);
Expand description
Create generic joints using the builder pattern.
Implementations
impl GenericJointBuilder
impl GenericJointBuilder
pub fn new(locked_axes: JointAxesMask) -> GenericJointBuilder
pub fn new(locked_axes: JointAxesMask) -> GenericJointBuilder
Creates a new generic joint builder.
pub fn locked_axes(self, axes: JointAxesMask) -> GenericJointBuilder
pub fn locked_axes(self, axes: JointAxesMask) -> GenericJointBuilder
Sets the degrees of freedom locked by the joint.
pub fn local_frame1(
self,
local_frame: Isometry<f32, Unit<Complex<f32>>, 2>
) -> GenericJointBuilder
pub fn local_frame1(
self,
local_frame: Isometry<f32, Unit<Complex<f32>>, 2>
) -> GenericJointBuilder
Sets the joint’s frame, expressed in the first rigid-body’s local-space.
pub fn local_frame2(
self,
local_frame: Isometry<f32, Unit<Complex<f32>>, 2>
) -> GenericJointBuilder
pub fn local_frame2(
self,
local_frame: Isometry<f32, Unit<Complex<f32>>, 2>
) -> GenericJointBuilder
Sets the joint’s frame, expressed in the second rigid-body’s local-space.
pub fn local_axis1(
self,
local_axis: Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>
) -> GenericJointBuilder
pub fn local_axis1(
self,
local_axis: Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>
) -> GenericJointBuilder
Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
pub fn local_axis2(
self,
local_axis: Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>
) -> GenericJointBuilder
pub fn local_axis2(
self,
local_axis: Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>
) -> GenericJointBuilder
Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
pub fn local_anchor1(self, anchor1: OPoint<f32, Const<2>>) -> GenericJointBuilder
pub fn local_anchor1(self, anchor1: OPoint<f32, Const<2>>) -> GenericJointBuilder
Sets the anchor of this joint, expressed in the first rigid-body’s local-space.
pub fn local_anchor2(self, anchor2: OPoint<f32, Const<2>>) -> GenericJointBuilder
pub fn local_anchor2(self, anchor2: OPoint<f32, Const<2>>) -> GenericJointBuilder
Sets the anchor of this joint, expressed in the second rigid-body’s local-space.
pub fn limits(self, axis: JointAxis, limits: [f32; 2]) -> GenericJointBuilder
pub fn limits(self, axis: JointAxis, limits: [f32; 2]) -> GenericJointBuilder
Sets the joint limits along the specified axis.
pub fn coupled_axes(self, axes: JointAxesMask) -> GenericJointBuilder
pub fn coupled_axes(self, axes: JointAxesMask) -> GenericJointBuilder
Sets the coupled degrees of freedom for this joint’s limits and motor.
pub fn motor_model(
self,
axis: JointAxis,
model: MotorModel
) -> GenericJointBuilder
pub fn motor_model(
self,
axis: JointAxis,
model: MotorModel
) -> GenericJointBuilder
Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn motor_velocity(
self,
axis: JointAxis,
target_vel: f32,
factor: f32
) -> GenericJointBuilder
pub fn motor_velocity(
self,
axis: JointAxis,
target_vel: f32,
factor: f32
) -> GenericJointBuilder
Sets the target velocity this motor needs to reach.
pub fn motor_position(
self,
axis: JointAxis,
target_pos: f32,
stiffness: f32,
damping: f32
) -> GenericJointBuilder
pub fn motor_position(
self,
axis: JointAxis,
target_pos: f32,
stiffness: f32,
damping: f32
) -> GenericJointBuilder
Sets the target angle this motor needs to reach.
pub fn set_motor(
self,
axis: JointAxis,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
) -> GenericJointBuilder
pub fn set_motor(
self,
axis: JointAxis,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
) -> GenericJointBuilder
Configure both the target angle and target velocity of the motor.
pub fn motor_max_force(
self,
axis: JointAxis,
max_force: f32
) -> GenericJointBuilder
pub fn motor_max_force(
self,
axis: JointAxis,
max_force: f32
) -> GenericJointBuilder
Sets the maximum force the motor can deliver along the specified axis.
pub fn build(self) -> GenericJoint
pub fn build(self) -> GenericJoint
Builds the generic joint.
Trait Implementations
impl Clone for GenericJointBuilder
impl Clone for GenericJointBuilder
fn clone(&self) -> GenericJointBuilder
fn clone(&self) -> GenericJointBuilder
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moreimpl Debug for GenericJointBuilder
impl Debug for GenericJointBuilder
impl Into<GenericJoint> for GenericJointBuilder
impl Into<GenericJoint> for GenericJointBuilder
fn into(self) -> GenericJoint
fn into(self) -> GenericJoint
impl Copy for GenericJointBuilder
Auto Trait Implementations
impl RefUnwindSafe for GenericJointBuilder
impl Send for GenericJointBuilder
impl Sync for GenericJointBuilder
impl Unpin for GenericJointBuilder
impl UnwindSafe for GenericJointBuilder
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