Trait nphysics3d::joint::UnitJoint

pub trait UnitJoint<N: Real>: 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.

Methods

impl<N> UnitJoint<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 UnitJoint<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> UnitJoint<N> for PrismaticJoint<N>

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

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