[−][src]Struct nphysics2d::joint::PrismaticJoint
A unit joint that allows only one translational degree on freedom.
Implementations
impl<N: RealField> PrismaticJoint<N>
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pub fn new(axis: Unit<Vector<N>>, offset: N) -> Self
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Create a new prismatic joint where the allowed traslation is defined along the provided axis.
The axis is expressed in the local coordinate system of the two multibody links attached to this joint.
pub fn offset(&self) -> N
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The relative displacement of the attached multibody links along the joint axis.
pub fn translation(&self) -> Translation<N>
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The relative translation of the attached multibody links along the joint axis.
pub fn min_offset(&self) -> Option<N>
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The lower limit of the relative displacement of the attached multibody links along the joint axis.
pub fn max_offset(&self) -> Option<N>
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The upper limit of the relative displacement of the attached multibody links along the joint axis.
pub fn disable_min_offset(&mut self)
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Disable the lower limit of the relative displacement of the attached multibody links along the joint axis.
pub fn disable_max_offset(&mut self)
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Disable the upper limit of the relative displacement of the attached multibody links along the joint axis.
pub fn enable_min_offset(&mut self, limit: N)
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Set the lower limit of the relative displacement of the attached multibody links along the joint axis.
pub fn enable_max_offset(&mut self, limit: N)
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Set the upper limit of the relative displacement of the attached multibody links along the joint axis.
pub fn is_linear_motor_enabled(&self) -> bool
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Returns true
if the joint motor is enabled.
pub fn enable_linear_motor(&mut self)
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Enable the joint motor.
pub fn disable_linear_motor(&mut self)
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Disable the joint motor.
pub fn desired_linear_motor_velocity(&self) -> N
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The desired relative velocity to be enforced by the joint motor.
pub fn set_desired_linear_motor_velocity(&mut self, vel: N)
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Set the desired relative velocity to be enforced by the joint motor.
pub fn max_linear_motor_velocity(&self) -> N
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The max linear velocity that the joint motor will attempt.
pub fn set_max_linear_motor_velocity(&mut self, max_vel: N)
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Set the maximum linear velocity that the joint motor will attempt.
pub fn max_linear_motor_force(&self) -> N
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The maximum force that can be output by the joint motor.
pub fn set_max_linear_motor_force(&mut self, force: N)
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Set the maximum force that can be output by the joint motor.
Trait Implementations
impl<N: Clone + RealField> Clone for PrismaticJoint<N>
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pub fn clone(&self) -> PrismaticJoint<N>
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pub fn clone_from(&mut self, source: &Self)
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impl<N: Copy + RealField> Copy for PrismaticJoint<N>
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impl<N: Debug + RealField> Debug for PrismaticJoint<N>
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impl<N: RealField> Joint<N> for PrismaticJoint<N>
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pub fn ndofs(&self) -> usize
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pub fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
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&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
pub fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])
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pub fn jacobian(
&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
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&self,
transform: &Isometry<N>,
out: &mut JacobianSliceMut<'_, N>
)
pub fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<'_, N>)
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pub fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
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&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<'_, N>
)
pub fn default_damping(&self, _: &mut DVectorSliceMut<'_, N>)
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pub fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
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pub fn apply_displacement(&mut self, disp: &[N])
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pub fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>
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pub fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>
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pub fn clone(&self) -> Box<dyn Joint<N>>
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pub fn num_velocity_constraints(&self) -> usize
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pub fn velocity_constraints(
&self,
parameters: &IntegrationParameters<N>,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, (), (), usize>
)
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&self,
parameters: &IntegrationParameters<N>,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
assembly_id: usize,
dof_id: usize,
ext_vels: &[N],
ground_j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, (), (), usize>
)
pub fn num_position_constraints(&self) -> usize
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pub fn position_constraint(
&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
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&self,
_: usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
pub fn nimpulses(&self) -> usize
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impl<N: RealField> UnitJoint<N> for PrismaticJoint<N>
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pub fn position(&self) -> N
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pub fn motor(&self) -> &JointMotor<N, N>
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pub fn min_position(&self) -> Option<N>
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pub fn max_position(&self) -> Option<N>
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Auto Trait Implementations
impl<N> RefUnwindSafe for PrismaticJoint<N> where
N: RefUnwindSafe + Scalar,
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N: RefUnwindSafe + Scalar,
impl<N> Send for PrismaticJoint<N> where
N: Scalar,
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N: Scalar,
impl<N> Sync for PrismaticJoint<N> where
N: Scalar,
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N: Scalar,
impl<N> Unpin for PrismaticJoint<N> where
N: Scalar + Unpin,
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N: Scalar + Unpin,
impl<N> UnwindSafe for PrismaticJoint<N> where
N: Scalar + UnwindSafe,
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N: Scalar + UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Slottable for T where
T: Copy,
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T: Copy,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,