Struct heron::rapier_plugin::rapier3d::prelude::RevoluteJointBuilder
pub struct RevoluteJointBuilder(_);
Expand description
Create revolute joints using the builder pattern.
A revolute joint locks all relative motion except for rotations along the joint’s principal axis.
Implementations
impl RevoluteJointBuilder
impl RevoluteJointBuilder
pub fn new(
axis: Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> RevoluteJointBuilder
pub fn new(
axis: Unit<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>>
) -> RevoluteJointBuilder
Creates a new revolute joint builder, allowing only relative rotations along the specified axis.
This axis is expressed in the local-space of both rigid-bodies.
pub fn local_anchor1(
self,
anchor1: OPoint<f32, Const<3>>
) -> RevoluteJointBuilder
pub fn local_anchor1(
self,
anchor1: OPoint<f32, Const<3>>
) -> RevoluteJointBuilder
Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
pub fn local_anchor2(
self,
anchor2: OPoint<f32, Const<3>>
) -> RevoluteJointBuilder
pub fn local_anchor2(
self,
anchor2: OPoint<f32, Const<3>>
) -> RevoluteJointBuilder
Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
pub fn motor_model(self, model: MotorModel) -> RevoluteJointBuilder
pub fn motor_model(self, model: MotorModel) -> RevoluteJointBuilder
Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn motor_velocity(self, target_vel: f32, factor: f32) -> RevoluteJointBuilder
pub fn motor_velocity(self, target_vel: f32, factor: f32) -> RevoluteJointBuilder
Sets the target velocity this motor needs to reach.
pub fn motor_position(
self,
target_pos: f32,
stiffness: f32,
damping: f32
) -> RevoluteJointBuilder
pub fn motor_position(
self,
target_pos: f32,
stiffness: f32,
damping: f32
) -> RevoluteJointBuilder
Sets the target angle this motor needs to reach.
pub fn motor(
self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
) -> RevoluteJointBuilder
pub fn motor(
self,
target_pos: f32,
target_vel: f32,
stiffness: f32,
damping: f32
) -> RevoluteJointBuilder
Configure both the target angle and target velocity of the motor.
pub fn motor_max_force(self, max_force: f32) -> RevoluteJointBuilder
pub fn motor_max_force(self, max_force: f32) -> RevoluteJointBuilder
Sets the maximum force the motor can deliver.
pub fn limits(self, limits: [f32; 2]) -> RevoluteJointBuilder
pub fn limits(self, limits: [f32; 2]) -> RevoluteJointBuilder
Sets the [min,max]
limit angles attached bodies can rotate along the joint’s principal axis.
pub fn build(self) -> RevoluteJoint
pub fn build(self) -> RevoluteJoint
Builds the revolute joint.
Trait Implementations
impl Clone for RevoluteJointBuilder
impl Clone for RevoluteJointBuilder
fn clone(&self) -> RevoluteJointBuilder
fn clone(&self) -> RevoluteJointBuilder
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moreimpl Debug for RevoluteJointBuilder
impl Debug for RevoluteJointBuilder
impl Into<GenericJoint> for RevoluteJointBuilder
impl Into<GenericJoint> for RevoluteJointBuilder
fn into(self) -> GenericJoint
fn into(self) -> GenericJoint
impl PartialEq<RevoluteJointBuilder> for RevoluteJointBuilder
impl PartialEq<RevoluteJointBuilder> for RevoluteJointBuilder
fn eq(&self, other: &RevoluteJointBuilder) -> bool
fn eq(&self, other: &RevoluteJointBuilder) -> bool
impl Copy for RevoluteJointBuilder
impl StructuralPartialEq for RevoluteJointBuilder
Auto Trait Implementations
impl RefUnwindSafe for RevoluteJointBuilder
impl Send for RevoluteJointBuilder
impl Sync for RevoluteJointBuilder
impl Unpin for RevoluteJointBuilder
impl UnwindSafe for RevoluteJointBuilder
Blanket Implementations
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