Trait nphysics3d::joint::UnitJoint

pub trait UnitJoint<N: RealField + Copy>: Joint<N> {
    fn position(&self) -> N;
    fn motor(&self) -> &JointMotor<N, N>;
    fn min_position(&self) -> Option<N>;
    fn max_position(&self) -> Option<N>;
}

Trait implemented by joints using the reduced-coordinates approach and allowing only one degree of freedom.

Required methods

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.

Implementations

impl<N> dyn UnitJoint<N> where
    N: Any + 'static,
    N: RealField + Copy, 

pub fn is<__T: UnitJoint<N>>(&self) -> bool

Returns true if the trait object wraps an object of type __T.

pub fn downcast<__T: UnitJoint<N>>(
    self: Box<Self>
) -> Result<Box<__T>, Box<Self>>

Returns a boxed object from a boxed trait object if the underlying object is of type __T. Returns the original boxed trait if it isn’t.

pub fn downcast_rc<__T: UnitJoint<N>>(
    self: Rc<Self>
) -> Result<Rc<__T>, Rc<Self>>

Returns an Rc-ed object from an Rc-ed trait object if the underlying object is of type __T. Returns the original Rc-ed trait if it isn’t.

pub fn downcast_ref<__T: UnitJoint<N>>(&self) -> Option<&__T>

Returns a reference to the object within the trait object if it is of type __T, or None if it isn’t.

pub fn downcast_mut<__T: UnitJoint<N>>(&mut self) -> Option<&mut __T>

Returns a mutable reference to the object within the trait object if it is of type __T, or None if it isn’t.

Implementors

impl<N: RealField + Copy> UnitJoint<N> for HelicalJoint<N>

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

impl<N: RealField + Copy> UnitJoint<N> for RevoluteJoint<N>