Trait nphysics3d::joint::Joint

pub trait Joint<N: Real>: Any + Send + Sync {
    fn ndofs(&self) -> usize;
    fn body_to_parent(
        &self, 
        parent_shift: &Vector<N>, 
        body_shift: &Vector<N>
    ) -> Isometry<N>;
    fn update_jacobians(&mut self, body_shift: &Vector<N>, vels: &[N]);
    fn integrate(&mut self, params: &IntegrationParameters<N>, vels: &[N]);
    fn apply_displacement(&mut self, disp: &[N]);
    fn jacobian(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<N>);
    fn jacobian_dot(
        &self, 
        transform: &Isometry<N>, 
        out: &mut JacobianSliceMut<N>
    );
    fn jacobian_dot_veldiff_mul_coordinates(
        &self, 
        transform: &Isometry<N>, 
        vels: &[N], 
        out: &mut JacobianSliceMut<N>
    );
    fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>;
    fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>;
    fn default_damping(&self, out: &mut DVectorSliceMut<N>);

    fn nimpulses(&self) -> usize { ... }
    fn num_velocity_constraints(&self) -> usize { ... }
    fn velocity_constraints(
        &self, 
        _params: &IntegrationParameters<N>, 
        _link: &MultibodyLinkRef<N>, 
        _assembly_id: usize, 
        _dof_id: usize, 
        _ext_vels: &[N], 
        _ground_j_id: &mut usize, 
        _jacobians: &mut [N], 
        _velocity_constraints: &mut ConstraintSet<N>
    ) { ... }
    fn num_position_constraints(&self) -> usize { ... }
    fn position_constraint(
        &self, 
        _i: usize, 
        _link: &MultibodyLinkRef<N>, 
        _dof_id: usize, 
        _jacobians: &mut [N]
    ) -> Option<GenericNonlinearConstraint<N>> { ... }
}

Trait implemented by all joints following the reduced-coordinate formation.

Required Methods

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, body_shift: &Vector<N>, vels: &[N])

Update the jacobians of this 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(&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, transform: &Isometry<N>, out: &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,
    transform: &Isometry<N>,
    vels: &[N],
    out: &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, vels: &[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, out: &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.

Provided Methods

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>,
    _link: &MultibodyLinkRef<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

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

fn position_constraint(
    &self,
    _i: usize,
    _link: &MultibodyLinkRef<N>,
    _dof_id: usize,
    _jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

Initialize and generate the i-th position constraints to enforce, e.g., joint limits.

Methods

impl<N> Joint<N> where     N: Real,

pub fn is<_T>(&self) -> bool where     _T: Any,     Self: Downcast<_T>,

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_ref_unchecked<_T>(&self) -> &_T where     _T: Any,     Self: Downcast<_T>,

pub fn downcast_ref<_T>(&self) -> Result<&_T, TypeMismatch> where     _T: Any,     Self: Downcast<_T>,

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_mut_unchecked<_T>(&mut self) -> &mut _T where     _T: Any,     Self: Downcast<_T>,

pub fn downcast_mut<_T>(&mut self) -> Result<&mut _T, TypeMismatch> where     _T: Any,     Self: Downcast<_T>,

Important traits for Box<R>

impl<R> Read for Box<R> where
    R: Read + ?Sized, impl<W> Write for Box<W> where
    W: Write + ?Sized, impl<I> Iterator for Box<I> where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_unchecked<_T>(self: Box<Self>) -> Box<_T> where     _T: Any,     Self: Downcast<_T>,

pub fn downcast<_T>(     self: Box<Self> ) -> Result<Box<_T>, DowncastError<Box<Self>>> where     _T: Any,     Self: Downcast<_T>,

Trait Implementations

impl<_T: Any, N> Downcast<_T> for Joint<N> where     _T: Any,     N: 'static,     N: Real,

fn is_type(&self) -> bool

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_ref_unchecked(&self) -> &T

fn downcast_ref(&self) -> Result<&T, TypeMismatch>

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_mut_unchecked(&mut self) -> &mut T

fn downcast_mut(&mut self) -> Result<&mut T, TypeMismatch>

Important traits for Box<R>

impl<R> Read for Box<R> where
    R: Read + ?Sized, impl<W> Write for Box<W> where
    W: Write + ?Sized, impl<I> Iterator for Box<I> where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_unchecked(self: Box<Self>) -> Box<T>

fn downcast(self: Box<Self>) -> Result<Box<T>, DowncastError<Box<Self>>>

Implementors

• impl<N: Real> Joint<N> for CartesianJoint<N>

• impl<N: Real> Joint<N> for FixedJoint<N>

• impl<N: Real> Joint<N> for FreeJoint<N>

• impl<N: Real> Joint<N> for PrismaticJoint<N>

• impl<N: Real> Joint<N> for RevoluteJoint<N>

• impl<N: Real> Joint<N> for BallJoint<N>

• impl<N: Real> Joint<N> for CylindricalJoint<N>

• impl<N: Real> Joint<N> for HelicalJoint<N>

• impl<N: Real> Joint<N> for PinSlotJoint<N>

• impl<N: Real> Joint<N> for PlanarJoint<N>

• impl<N: Real> Joint<N> for RectangularJoint<N>

• impl<N: Real> Joint<N> for UniversalJoint<N>