Struct PyJointSet 

pub struct PyJointSet { /* private fields */ }

A collection of joints.

Implementations

impl PyJointSet

pub fn new() -> Self

Create an empty joint set.

pub fn create_joint( &mut self, joint_type: PyJointType, body_a: u32, body_b: u32, anchor_a: [f64; 3], anchor_b: [f64; 3], _params: Option<Value>, ) -> u32

Create and add a joint; returns its handle.

pub fn remove(&mut self, id: u32) -> bool

Remove a joint by handle.

pub fn get(&self, id: u32) -> Option<&PyJoint>

Get immutable reference.

pub fn get_mut(&mut self, id: u32) -> Option<&mut PyJoint>

Get mutable reference.

pub fn set_motor(&mut self, id: u32, speed: f64, max_force: f64) -> bool

Set motor speed and max force.

pub fn get_forces(&self, id: u32) -> Option<([f64; 3], [f64; 3])>

Get reaction forces and torques (force, torque).

pub fn len(&self) -> usize

Number of active joints.

pub fn is_empty(&self) -> bool

True if empty.

Trait Implementations

impl Clone for PyJointSet

fn clone(&self) -> PyJointSet

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PyJointSet

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

Formats the value using the given formatter.

impl Default for PyJointSet

fn default() -> PyJointSet

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for PyJointSet

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for PyJointSet

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.