Struct nphysics3d::joint::PlanarJoint

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

A joint that allows 1 rotational and 2 translational degrees of freedom.

Methods

impl<N: Real> PlanarJoint<N>

pub fn new(     axis1: Unit<Vector3<N>>,     axis2: Unit<Vector3<N>>,     pos1: N,     pos2: N,     angle: N ) -> Self

Create a new planar joint where both translational degrees of freedoms are along the provide axii.

The rotational degree of freedom is along an axis orthogonal to axis1 and axis2. Idealy, the two provided axii should be orthogonal. All axis are in the local coordinate space of the attached multibody links.

Panics if axis1 and axis2 are near-colinear.

impl<N: Real> PlanarJoint<N>

pub fn min_offset_1(&self) -> Option<N>

The lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn max_offset_1(&self) -> Option<N>

The upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_min_offset_1(&mut self)

Disable the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_max_offset_1(&mut self)

Disable the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_min_offset_1(&mut self, limit: N)

Set the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_max_offset_1(&mut self, limit: N)

Set the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn is_linear_motor_enabled_1(&self) -> bool

Returns true if the joint translational motor is enabled.

pub fn enable_linear_motor_1(&mut self)

Enable the joint translational motor.

pub fn disable_linear_motor_1(&mut self)

Disable the joint translational motor.

pub fn desired_linear_motor_velocity_1(&self) -> N

The desired relative translational velocity to be enforced by the joint motor.

pub fn set_desired_linear_motor_velocity_1(&mut self, vel: N)

Set the desired relative translational velocity to be enforced by the joint motor.

pub fn max_linear_motor_force_1(&self) -> N

The maximum force that can be output by the joint translational motor.

pub fn set_max_linear_motor_force_1(&mut self, force: N)

Set the maximum force that can be output by the joint translational motor.

impl<N: Real> PlanarJoint<N>

pub fn min_offset_2(&self) -> Option<N>

The lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn max_offset_2(&self) -> Option<N>

The upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_min_offset_2(&mut self)

Disable the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_max_offset_2(&mut self)

Disable the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_min_offset_2(&mut self, limit: N)

Set the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_max_offset_2(&mut self, limit: N)

Set the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn is_linear_motor_enabled_2(&self) -> bool

Returns true if the joint translational motor is enabled.

pub fn enable_linear_motor_2(&mut self)

Enable the joint translational motor.

pub fn disable_linear_motor_2(&mut self)

Disable the joint translational motor.

pub fn desired_linear_motor_velocity_2(&self) -> N

The desired relative translational velocity to be enforced by the joint motor.

pub fn set_desired_linear_motor_velocity_2(&mut self, vel: N)

Set the desired relative translational velocity to be enforced by the joint motor.

pub fn max_linear_motor_force2(&self) -> N

The maximum force that can be output by the joint translational motor.

pub fn set_max_linear_motor_force_2(&mut self, force: N)

Set the maximum force that can be output by the joint translational motor.

impl<N: Real> PlanarJoint<N>

pub fn min_angle(&self) -> Option<N>

The lower limit of the rotation angle.

pub fn max_angle(&self) -> Option<N>

The upper limit of the rotation angle.

pub fn disable_min_angle(&mut self)

Disable the lower limit of the rotation angle.

pub fn disable_max_angle(&mut self)

Disable the upper limit of the rotation angle.

pub fn enable_min_angle(&mut self, limit: N)

Enable and set the lower limit of the rotation angle.

pub fn enable_max_angle(&mut self, limit: N)

Enable and set the upper limit of the rotation angle.

pub fn is_angular_motor_enabled(&self) -> bool

Return true if the angular motor of this joint is enabled.

pub fn enable_angular_motor(&mut self)

Enable the angular motor of this joint.

pub fn disable_angular_motor(&mut self)

Disable the angular motor of this joint.

pub fn desired_angular_motor_velocity(&self) -> N

The desired angular velocity of the joint motor.

pub fn set_desired_angular_motor_velocity(&mut self, vel: N)

Set the desired angular velocity of the joint motor.

pub fn max_angular_motor_torque(&self) -> N

The maximum torque that can be delivered by the joint motor.

pub fn set_max_angular_motor_torque(&mut self, torque: N)

Set the maximum torque that can be delivered by the joint motor.

Trait Implementations

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

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

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

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

Formats the value using the given formatter.

impl<N: Real> Joint<N> for PlanarJoint<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>,     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.

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 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],     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.

fn nimpulses(&self) -> usize

The maximum number of impulses needed by this joints for its constraints.