Struct oxygengine_physics_2d::prelude::joint::FixedJoint

pub struct FixedJoint<N> where
    N: RealField,  { /* fields omitted */ }

A joint that does not allow any relative degrees of freedom.

Implementations

impl<N> FixedJoint<N> where
    N: RealField, 

pub fn new(pos_wrt_body: Isometry<N, U2, Unit<Complex<N>>>) -> FixedJoint<N>

Create a joint that does not a allow any degrees of freedom between two multibody links.

The descendent attached to this joint will have a position maintained to pos_wrt_body relative to its parent.

Trait Implementations

impl<N> Clone for FixedJoint<N> where
    N: Clone + RealField, 

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

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N> Copy for FixedJoint<N> where
    N: Copy + RealField, 

impl<N> Debug for FixedJoint<N> where
    N: Debug + RealField, 

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

Formats the value using the given formatter.

impl<N> Joint<N> for FixedJoint<N> where
    N: RealField, 

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent(
    &self,
    parent_shift: &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>,
    body_shift: &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>
) -> Isometry<N, U2, Unit<Complex<N>>>

The position of the multibody link containing this joint relative to its parent.

fn update_jacobians(
    &mut self,
    &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>,
    &[N]
)

Update the jacobians of this joint.

fn jacobian(
    &self,
    &Isometry<N, U2, Unit<Complex<N>>>,
    &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)

Sets in out the non-zero entries of the joint jacobian transformed by transform.

fn jacobian_dot(
    &self,
    &Isometry<N, U2, Unit<Complex<N>>>,
    &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)

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, U2, Unit<Complex<N>>>,
    &[N],
    &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)

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, &IntegrationParameters<N>, &[N])

Integrate the position of this joint.

fn apply_displacement(&mut self, &[N])

Apply a displacement to the joint.

fn jacobian_mul_coordinates(&self, &[N]) -> Velocity2<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]) -> Velocity2<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 Matrix<N, Dynamic, U1, SliceStorageMut<N, Dynamic, U1, U1, Dynamic>>
)

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 clone(&self) -> Box<dyn Joint<N> + 'static>

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>,
    _multibody: &Multibody<N>,
    _link: &MultibodyLink<N>,
    _assembly_id: usize,
    _dof_id: usize,
    _ext_vels: &[N],
    _ground_j_id: &mut usize,
    _jacobians: &mut [N],
    _velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)

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,
    _multibody: &Multibody<N>,
    _link: &MultibodyLink<N>,
    _handle: BodyPartHandle<()>,
    _dof_id: usize,
    _jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>

Initialize and generate the i-th position constraints to enforce, e.g., joint limits.