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PyJoint

oxiphysics_python::rigid_api

Struct PyJoint

pub struct PyJoint {Show 14 fields
    pub id: u32,
    pub joint_type: PyJointType,
    pub body_a: u32,
    pub body_b: u32,
    pub anchor_a: [f64; 3],
    pub anchor_b: [f64; 3],
    pub axis: [f64; 3],
    pub lower_limit: f64,
    pub upper_limit: f64,
    pub motor_speed: f64,
    pub motor_max_force: f64,
    pub motor_enabled: bool,
    pub reaction_force: [f64; 3],
    pub reaction_torque: [f64; 3],
}

Expand description

A joint connecting two bodies.

Fields§

§id: u32

Joint handle.

§joint_type: PyJointType

Joint type.

§body_a: u32

Body A handle.

§body_b: u32

Body B handle.

§anchor_a: [f64; 3]

Anchor on body A in local space.

§anchor_b: [f64; 3]

Anchor on body B in local space.

§axis: [f64; 3]

Axis for hinge/slider (body A local space).

§lower_limit: f64

Lower limit (angle in radians for hinge, distance for slider).

§upper_limit: f64

Upper limit.

§motor_speed: f64

Motor target speed.

§motor_max_force: f64

Motor maximum force/torque.

§motor_enabled: bool

Whether the motor is enabled.

§reaction_force: [f64; 3]

Last computed force on body A [fx, fy, fz].

§reaction_torque: [f64; 3]

Last computed torque on body A [tx, ty, tz].

Implementations§

impl PyJoint

pub fn new( id: u32, joint_type: PyJointType, body_a: u32, body_b: u32, anchor_a: [f64; 3], anchor_b: [f64; 3], ) -> Self

Create a new joint.

pub fn enable_motor(&mut self, speed: f64, max_force: f64)

Enable the motor.

pub fn disable_motor(&mut self)

Disable the motor.

Trait Implementations§

impl Clone for PyJoint

fn clone(&self) -> PyJoint

Returns a duplicate of the value. Read more

1.0.0 · Source§

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

Performs copy-assignment from source. Read more

impl Debug for PyJoint

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

Formats the value using the given formatter. Read more

impl<'de> Deserialize<'de> for PyJoint

fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

impl Serialize for PyJoint

fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

Auto Trait Implementations§

impl Freeze for PyJoint

impl RefUnwindSafe for PyJoint

impl Send for PyJoint

impl Sync for PyJoint

impl Unpin for PyJoint

impl UnsafeUnpin for PyJoint

impl UnwindSafe for PyJoint

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,