[−][src]Struct nphysics3d::joint::BallJoint
A joint that allows only all rotational degrees of freedom between two multibody links.
Methods
impl<N: RealField> BallJoint<N>
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pub fn new(axisangle: Vector3<N>) -> Self
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Create a ball joint with the an initial position given by a rotation in axis-angle form.
Trait Implementations
impl<N: RealField> Joint<N> for BallJoint<N>
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fn clone(&self) -> Box<dyn Joint<N>>
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fn ndofs(&self) -> usize
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fn body_to_parent(
&self,
parent_shift: &Vector3<N>,
body_shift: &Vector3<N>
) -> Isometry3<N>
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&self,
parent_shift: &Vector3<N>,
body_shift: &Vector3<N>
) -> Isometry3<N>
fn update_jacobians(&mut self, body_shift: &Vector3<N>, vels: &[N])
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fn jacobian(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)
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fn jacobian_dot(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)
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fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry3<N>,
acc: &[N],
out: &mut JacobianSliceMut<N>
)
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&self,
transform: &Isometry3<N>,
acc: &[N],
out: &mut JacobianSliceMut<N>
)
fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>
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fn jacobian_dot_mul_coordinates(&self, acc: &[N]) -> Velocity<N>
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fn default_damping(&self, out: &mut DVectorSliceMut<N>)
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fn integrate(&mut self, params: &IntegrationParameters<N>, vels: &[N])
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fn apply_displacement(&mut self, disp: &[N])
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fn nimpulses(&self) -> usize
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The maximum number of impulses needed by this joints for its constraints. Read more
fn num_velocity_constraints(&self) -> usize
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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>
)
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&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
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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>>
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&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: Copy + RealField> Copy for BallJoint<N>
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impl<N: Clone + RealField> Clone for BallJoint<N>
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fn clone(&self) -> BallJoint<N>
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fn clone_from(&mut self, source: &Self)
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Performs copy-assignment from source
. Read more
impl<N: Debug + RealField> Debug for BallJoint<N>
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Auto Trait Implementations
Blanket Implementations
impl<T, U> Into for T where
U: From<T>,
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U: From<T>,
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
impl<T> From for T
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impl<T, U> TryFrom 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.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T> Borrow for T where
T: ?Sized,
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T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T, U> TryInto 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.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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unsafe fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> Same for T
type Output = T
Should always be Self