Struct nphysics3d::joint::CartesianJoint

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

A joint that allows only all the translational degrees of freedom between two multibody links.

Methods

impl<N: RealField> CartesianJoint<N>

pub fn new(position: Vector<N>) -> Self

Create a cartesian joint with an initial position given by position.

Trait Implementations

impl<N: RealField> Joint<N> for CartesianJoint<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, _: &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 jacobian_mul_coordinates(&self, vels: &[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 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, parameters: &IntegrationParameters<N>, vels: &[N])

Integrate the position of this joint.

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

Apply a displacement to the joint.

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

fn nimpulses(&self) -> usize

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

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],
    _velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)

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,
    _i: usize,
    _multibody: &Multibody<N>,
    _link: &MultibodyLink<N>,
    _handle: BodyPartHandle<()>,
    _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>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

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

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

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

Formats the value using the given formatter.