[−][src]Struct nphysics3d::joint::CartesianJoint
A joint that allows only all the translational degrees of freedom between two multibody links.
Methods
impl<N: RealField> CartesianJoint<N>
[src]
pub fn new(position: Vector<N>) -> Self
[src]
Create a cartesian joint with an initial position given by position
.
Trait Implementations
impl<N: RealField> Joint<N> for CartesianJoint<N>
[src]
fn clone(&self) -> Box<dyn Joint<N>>
[src]
fn ndofs(&self) -> usize
[src]
fn body_to_parent(
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
[src]
&self,
parent_shift: &Vector<N>,
body_shift: &Vector<N>
) -> Isometry<N>
fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])
[src]
fn jacobian(&self, _: &Isometry<N>, out: &mut JacobianSliceMut<N>)
[src]
fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<N>)
[src]
fn jacobian_dot_veldiff_mul_coordinates(
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<N>
)
[src]
&self,
_: &Isometry<N>,
_: &[N],
_: &mut JacobianSliceMut<N>
)
fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>
[src]
fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>
[src]
fn default_damping(&self, _: &mut DVectorSliceMut<N>)
[src]
fn integrate(&mut self, params: &IntegrationParameters<N>, vels: &[N])
[src]
fn apply_displacement(&mut self, disp: &[N])
[src]
fn nimpulses(&self) -> usize
[src]
The maximum number of impulses needed by this joints for its constraints. Read more
fn num_velocity_constraints(&self) -> usize
[src]
Maximum number of velocity constrains that can be generated by this joint.
fn velocity_constraints(
&self,
_params: &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],
_velocity_constraints: &mut ConstraintSet<N>
)
[src]
&self,
_params: &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],
_velocity_constraints: &mut ConstraintSet<N>
)
Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.
fn num_position_constraints(&self) -> usize
[src]
The maximum number of non-linear position constraints that can be generated by this joint.
fn position_constraint(
&self,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
_i: usize,
_multibody: &Multibody<N>,
_link: &MultibodyLink<N>,
_dof_id: usize,
_jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
Initialize and generate the i-th position constraints to enforce, e.g., joint limits.
impl<N: Clone + RealField> Clone for CartesianJoint<N>
[src]
fn clone(&self) -> CartesianJoint<N>
[src]
fn clone_from(&mut self, source: &Self)
1.0.0[src]
Performs copy-assignment from source
. Read more
impl<N: Copy + RealField> Copy for CartesianJoint<N>
[src]
impl<N: Debug + RealField> Debug for CartesianJoint<N>
[src]
Auto Trait Implementations
impl<N> Send for CartesianJoint<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for CartesianJoint<N> where
N: Scalar,
N: Scalar,
Blanket Implementations
impl<T, U> Into for T where
U: From<T>,
[src]
U: From<T>,
impl<T> ToOwned for T where
T: Clone,
[src]
T: Clone,
impl<T> From for T
[src]
impl<T, U> TryFrom for T where
U: Into<T>,
[src]
U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
[src]
impl<T> Borrow for T where
T: ?Sized,
[src]
T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized,
[src]
T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized,
[src]
T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
[src]
impl<T, U> TryInto for T where
U: TryFrom<T>,
[src]
U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
[src]
impl<T> Downcast for T where
T: Any,
[src]
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
[src]
fn as_any(&self) -> &(dyn Any + 'static)
[src]
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>,
[src]
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
[src]
fn is_in_subset(&self) -> bool
[src]
unsafe fn to_subset_unchecked(&self) -> SS
[src]
fn from_subset(element: &SS) -> SP
[src]
impl<T> Same for T
type Output = T
Should always be Self