Struct let_engine::objects::physics::joints::GenericJoint

pub struct GenericJoint {
    pub data: GenericJoint,
}

A generic joint.

Fields

data: GenericJoint

Implementations

impl GenericJoint

pub fn new(locked_axes: JointAxesMask) -> Self

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

pub fn is_enabled(&self) -> bool

Is this joint enabled?

pub fn set_enabled(&mut self, enabled: bool)

Set whether this joint is enabled or not.

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

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

pub fn set_local_frame1(&mut self, local_frame: (Vec2, f32)) -> &mut Self

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

pub fn set_local_frame2(&mut self, local_frame: (Vec2, f32)) -> &mut Self

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

pub fn local_axis1(&self) -> Vec2

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: Vec2) -> &mut Self

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

pub fn local_axis2(&self) -> Vec2

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: Vec2) -> &mut Self

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

pub fn local_anchor1(&self) -> Vec2

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

pub fn set_local_anchor1(&mut self, anchor1: Vec2) -> &mut Self

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

pub fn local_anchor2(&self) -> Vec2

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

pub fn set_local_anchor2(&mut self, anchor2: Vec2) -> &mut Self

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

pub fn contacts_enabled(&self) -> bool

Are contacts between the attached rigid-bodies enabled?

pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self

Sets whether contacts between the attached rigid-bodies are enabled.

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

The joint limits along the specified axis.

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

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 Self

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: Real, factor: Real ) -> &mut Self

Sets the target velocity this motor needs to reach.

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

Sets the target angle this motor needs to reach.

pub fn set_motor_max_force( &mut self, axis: JointAxis, max_force: Real ) -> &mut Self

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: Real, target_vel: Real, stiffness: Real, damping: Real ) -> &mut Self

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

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

Formats the value using the given formatter.

impl Default for GenericJoint

fn default() -> GenericJoint

Returns the “default value” for a type.

impl From<FixedJointBuilder> for GenericJoint

fn from(val: FixedJointBuilder) -> Self

Converts to this type from the input type.

impl From<GenericJointBuilder> for GenericJoint

fn from(val: GenericJointBuilder) -> Self

Converts to this type from the input type.

impl From<PrismaticJoint> for GenericJoint

fn from(val: PrismaticJoint) -> Self

Converts to this type from the input type.

impl From<PrismaticJointBuilder> for GenericJoint

fn from(val: PrismaticJointBuilder) -> Self

Converts to this type from the input type.

impl From<RevoluteJoint> for GenericJoint

fn from(val: RevoluteJoint) -> Self

Converts to this type from the input type.

impl From<RevoluteJointBuilder> for GenericJoint

fn from(val: RevoluteJointBuilder) -> Self

Converts to this type from the input type.

impl From<RopeJoint> for GenericJoint

fn from(val: RopeJoint) -> Self

Converts to this type from the input type.

impl From<RopeJointBuilder> for GenericJoint

fn from(val: RopeJointBuilder) -> Self

Converts to this type from the input type.

impl PartialEq 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