[−][src]Trait nphysics3d::joint::UnitJoint
Trait implemented by joints using the reduced-coordinates approach and allowing only one degree of freedom.
Required methods
fn position(&self) -> N
The generalized coordinate of the unit joint.
fn motor(&self) -> &JointMotor<N, N>
The motor applied to the degree of freedom of the unit joitn.
fn min_position(&self) -> Option<N>
The lower limit, if any, set to the generalized coordinate of this unit joint.
fn max_position(&self) -> Option<N>
The upper limit, if any, set to the generalized coordinate of this unit joint.
Methods
impl<N> dyn UnitJoint<N> where
N: Any + 'static,
N: RealField,
N: Any + 'static,
N: RealField,
pub fn is<__T: UnitJoint<N>>(&self) -> bool
Returns true if the trait object wraps an object of type __T
.
pub fn downcast<__T: UnitJoint<N>>(
self: Box<Self>
) -> Result<Box<__T>, Box<Self>>
self: Box<Self>
) -> Result<Box<__T>, Box<Self>>
Returns a boxed object from a boxed trait object if the underlying object is of type
__T
. Returns the original boxed trait if it isn't.
pub fn downcast_ref<__T: UnitJoint<N>>(&self) -> Option<&__T>
Returns a reference to the object within the trait object if it is of type __T
, or
None
if it isn't.
pub fn downcast_mut<__T: UnitJoint<N>>(&mut self) -> Option<&mut __T>
Returns a mutable reference to the object within the trait object if it is of type
__T
, or None
if it isn't.