[−][src]Struct oxygengine_physics_2d::prelude::joint::RevoluteJoint
A unit joint that allows only one relative rotational degree of freedom between two multibody links.
Implementations
impl<N> RevoluteJoint<N> where
N: RealField,
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N: RealField,
pub fn new(angle: N) -> RevoluteJoint<N>
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Create a new revolute joint with an initial angle.
pub fn axis(
&self
) -> Unit<Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>>
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&self
) -> Unit<Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>>
The axis of the rotational degree of freedom.
pub fn angle(&self) -> N
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The angle of rotation.
pub fn rotation(&self) -> &Unit<Complex<N>>
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The rotation from an attached multibody link to its dependent.
pub fn local_jacobian(&self) -> &Velocity2<N>
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The jacobian of this joint expressed in the local coordinate frame of the joint.
pub fn local_jacobian_dot(&self) -> &Velocity2<N>
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The time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.
pub fn local_jacobian_dot_veldiff(&self) -> &Velocity2<N>
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The velocity-derivative of the time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.
pub fn min_angle(&self) -> Option<N>
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The lower limit of the rotation angle.
pub fn max_angle(&self) -> Option<N>
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The upper limit of the rotation angle.
pub fn disable_min_angle(&mut self)
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Disable the lower limit of the rotation angle.
pub fn disable_max_angle(&mut self)
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Disable the upper limit of the rotation angle.
pub fn enable_min_angle(&mut self, limit: N)
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Enable and set the lower limit of the rotation angle.
pub fn enable_max_angle(&mut self, limit: N)
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Enable and set the upper limit of the rotation angle.
pub fn is_angular_motor_enabled(&self) -> bool
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Return true
if the angular motor of this joint is enabled.
pub fn enable_angular_motor(&mut self)
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Enable the angular motor of this joint.
pub fn disable_angular_motor(&mut self)
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Disable the angular motor of this joint.
pub fn desired_angular_motor_velocity(&self) -> N
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The desired angular velocity of the joint motor.
pub fn set_desired_angular_motor_velocity(&mut self, vel: N)
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Set the desired angular velocity of the joint motor.
pub fn max_angular_motor_torque(&self) -> N
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The maximum torque that can be delivered by the joint motor.
pub fn set_max_angular_motor_torque(&mut self, torque: N)
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Set the maximum torque that can be delivered by the joint motor.
Trait Implementations
impl<N> Clone for RevoluteJoint<N> where
N: Clone + RealField,
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N: Clone + RealField,
fn clone(&self) -> RevoluteJoint<N>
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fn clone_from(&mut self, source: &Self)
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impl<N> Copy for RevoluteJoint<N> where
N: Copy + RealField,
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N: Copy + RealField,
impl<N> Debug for RevoluteJoint<N> where
N: Debug + RealField,
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N: Debug + RealField,
impl<N> Joint<N> for RevoluteJoint<N> where
N: RealField,
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N: RealField,
fn ndofs(&self) -> usize
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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>>>
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&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>>>
fn update_jacobians(
&mut self,
body_shift: &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>,
vels: &[N]
)
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&mut self,
body_shift: &Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>,
vels: &[N]
)
fn jacobian(
&self,
transform: &Isometry<N, U2, Unit<Complex<N>>>,
out: &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)
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&self,
transform: &Isometry<N, U2, Unit<Complex<N>>>,
out: &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)
fn jacobian_dot(
&self,
transform: &Isometry<N, U2, Unit<Complex<N>>>,
out: &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)
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&self,
transform: &Isometry<N, U2, Unit<Complex<N>>>,
out: &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)
fn jacobian_dot_veldiff_mul_coordinates(
&self,
transform: &Isometry<N, U2, Unit<Complex<N>>>,
acc: &[N],
out: &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)
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&self,
transform: &Isometry<N, U2, Unit<Complex<N>>>,
acc: &[N],
out: &mut Matrix<N, U3, Dynamic, SliceStorageMut<N, U3, Dynamic, U1, U3>>
)
fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])
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fn default_damping(
&self,
out: &mut Matrix<N, Dynamic, U1, SliceStorageMut<N, Dynamic, U1, U1, Dynamic>>
)
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&self,
out: &mut Matrix<N, Dynamic, U1, SliceStorageMut<N, Dynamic, U1, U1, Dynamic>>
)
fn apply_displacement(&mut self, disp: &[N])
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fn jacobian_mul_coordinates(&self, acc: &[N]) -> Velocity2<N>
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fn jacobian_dot_mul_coordinates(&self, acc: &[N]) -> Velocity2<N>
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fn clone(&self) -> Box<dyn Joint<N> + 'static>
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fn num_velocity_constraints(&self) -> usize
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fn velocity_constraints(
&self,
parameters: &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],
constraints: &mut ConstraintSet<N, (), (), usize>
)
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&self,
parameters: &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],
constraints: &mut ConstraintSet<N, (), (), usize>
)
fn num_position_constraints(&self) -> usize
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fn position_constraint(
&self,
usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
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&self,
usize,
multibody: &Multibody<N>,
link: &MultibodyLink<N>,
handle: BodyPartHandle<()>,
dof_id: usize,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>
fn nimpulses(&self) -> usize
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impl<N> UnitJoint<N> for RevoluteJoint<N> where
N: RealField,
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N: RealField,
fn position(&self) -> N
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fn motor(&self) -> &JointMotor<N, N>
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fn min_position(&self) -> Option<N>
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fn max_position(&self) -> Option<N>
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Auto Trait Implementations
impl<N> RefUnwindSafe for RevoluteJoint<N> where
N: RefUnwindSafe + Scalar,
N: RefUnwindSafe + Scalar,
impl<N> Send for RevoluteJoint<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for RevoluteJoint<N> where
N: Scalar,
N: Scalar,
impl<N> Unpin for RevoluteJoint<N> where
N: Scalar + Unpin,
N: Scalar + Unpin,
impl<N> UnwindSafe for RevoluteJoint<N> where
N: Scalar + UnwindSafe,
N: Scalar + UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
fn get_type_id(&self) -> TypeId
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn as_any(&self) -> &(dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> Event for T where
T: Send + Sync + 'static,
T: Send + Sync + 'static,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Resource for T where
T: Any,
T: Any,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Slottable for T where
T: Copy,
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T: Copy,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
fn to_subset_unchecked(&self) -> SS
fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
fn to_owned(&self) -> T
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fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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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>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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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>
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impl<T> UserData for T where
T: Clone + Send + Sync + Any,
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T: Clone + Send + Sync + Any,
fn clone_boxed(&self) -> Box<dyn UserData + 'static>
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fn to_any(&self) -> Box<dyn Any + 'static + Sync + Send>
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fn as_any(&self) -> &(dyn Any + 'static + Sync + Send)
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,