Struct nphysics3d::joint::BallJoint

pub struct BallJoint<N: Real> { /* fields omitted */ }

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

Methods

impl<N: Real> BallJoint<N>

pub fn new(axisangle: Vector3<N>) -> Self

Create a ball joint with the an initial position given by a rotation in axis-angle form.

Trait Implementations

impl<N: Copy + Real> Copy for BallJoint<N>

impl<N: Clone + Real> Clone for BallJoint<N>

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Debug + Real> Debug for BallJoint<N>

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

Formats the value using the given formatter.

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

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent(     &self,     parent_shift: &Vector3<N>,     body_shift: &Vector3<N> ) -> Isometry3<N>

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

fn update_jacobians(&mut self, body_shift: &Vector3<N>, vels: &[N])

Update the jacobians of this joint.

fn jacobian(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)

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

fn jacobian_dot(&self, transform: &Isometry3<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: &Isometry3<N>,     acc: &[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, 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, acc: &[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.

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 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.