Struct nphysics3d::joint::FixedJoint

pub struct FixedJoint<N: RealField + Copy> { /* fields omitted */ }

A joint that does not allow any relative degrees of freedom.

Implementations

impl<N: RealField + Copy> FixedJoint<N>

pub fn new(pos_wrt_body: Isometry<N>) -> Self

Create a joint that does not a allow any degrees of freedom between two multibody links.

The descendent attached to this joint will have a position maintained to pos_wrt_body relative to its parent.

Trait Implementations

impl<N: Clone + RealField + Copy> Clone for FixedJoint<N>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + RealField + Copy> Debug for FixedJoint<N>

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

Formats the value using the given formatter.

impl<N: RealField + Copy> Joint<N> for FixedJoint<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>, _: &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 integrate(&mut self, _: &IntegrationParameters<N>, _: &[N])

Integrate the position of this joint.

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

Apply a displacement to the joint.

fn jacobian_mul_coordinates(&self, _: &[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 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: Copy + RealField> Copy for FixedJoint<N>