Struct nphysics3d::joint::PrismaticJoint

pub struct PrismaticJoint<N: RealField> { /* fields omitted */ }

A unit joint that allows only one translational degree on freedom.

Methods

impl<N: RealField> PrismaticJoint<N>

pub fn new(axis: Unit<Vector<N>>, offset: N) -> Self

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

The relative displacement of the attached multibody links along the joint axis.

pub fn translation(&self) -> Translation<N>

The relative translation of the attached multibody links along the joint axis.

pub fn min_offset(&self) -> Option<N>

The lower limit of the relative displacement of the attached multibody links along the joint axis.

pub fn max_offset(&self) -> Option<N>

The upper limit of the relative displacement of the attached multibody links along the joint axis.

pub fn disable_min_offset(&mut self)

Disable the lower limit of the relative displacement of the attached multibody links along the joint axis.

pub fn disable_max_offset(&mut self)

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)

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)

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

Returns true if the joint motor is enabled.

pub fn enable_linear_motor(&mut self)

Enable the joint motor.

pub fn disable_linear_motor(&mut self)

Disable the joint motor.

pub fn desired_linear_motor_velocity(&self) -> N

The desired relative velocity to be enforced by the joint motor.

pub fn set_desired_linear_motor_velocity(&mut self, vel: N)

Set the desired relative velocity to be enforced by the joint motor.

pub fn max_linear_motor_force(&self) -> N

The maximum force that can be output by the joint motor.

pub fn set_max_linear_motor_force(&mut self, force: N)

Set the maximum force that can be output by the joint motor.

Trait Implementations

impl<N: RealField> Joint<N> for PrismaticJoint<N>

fn clone(&self) -> Box<dyn Joint<N>>

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent(
    &self,
    parent_shift: &Vector<N>,
    body_shift: &Vector<N>
) -> Isometry<N>

The position of the multibody link containing this joint relative to its parent.

fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])

Update the jacobians of this joint.

fn jacobian(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<N>)

Sets in out the non-zero entries of the joint jacobian transformed by transform.

fn jacobian_dot(&self, _: &Isometry<N>, _: &mut JacobianSliceMut<N>)

Sets in out the non-zero entries of the time-derivative of the joint jacobian transformed by transform.

fn jacobian_dot_veldiff_mul_coordinates(
    &self,
    _: &Isometry<N>,
    _: &[N],
    _: &mut JacobianSliceMut<N>
)

Sets in out the non-zero entries of the velocity-derivative of the time-derivative of the joint jacobian transformed by transform.

fn default_damping(&self, _: &mut DVectorSliceMut<N>)

Fill out with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.

fn integrate(&mut self, params: &IntegrationParameters<N>, vels: &[N])

Integrate the position of this joint.

fn apply_displacement(&mut self, disp: &[N])

Apply a displacement to the joint.

fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint.

fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.

fn num_velocity_constraints(&self) -> usize

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],
    constraints: &mut ConstraintSet<N>
)

Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.

fn num_position_constraints(&self) -> usize

The maximum number of non-linear position constraints that can be generated by this joint.

fn position_constraint(
    &self,
    _: 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.

fn nimpulses(&self) -> usize

The maximum number of impulses needed by this joints for its constraints.

impl<N: RealField> UnitJoint<N> for PrismaticJoint<N>

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.

impl<N: Copy + RealField> Copy for PrismaticJoint<N>

impl<N: Clone + RealField> Clone for PrismaticJoint<N>

fn clone(&self) -> PrismaticJoint<N>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: Debug + RealField> Debug for PrismaticJoint<N>

fn fmt(&self, f: &mut Formatter) -> Result

Formats the value using the given formatter.