Struct nphysics3d::joint::FreeJoint

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

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

This joint can only be added between a Ground body (as parent) and any other body.

Methods

impl<N: Real> FreeJoint<N>

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

Creates a free joint with the given initial position of the descendent, relative to the ground.

Trait Implementations

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

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

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

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

Formats the value using the given formatter.

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

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent(&self, _: &Vector<N>, _: &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 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_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 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.