Struct rapier2d::dynamics::PrismaticJoint[−][src]

pub struct PrismaticJoint {
    pub local_anchor1: Point<Real>,
    pub local_anchor2: Point<Real>,
    pub impulse: Vector2<Real>,
    pub limits_enabled: bool,
    pub limits: [Real; 2],
    pub limits_impulse: Real,
    pub motor_target_vel: Real,
    pub motor_target_pos: Real,
    pub motor_stiffness: Real,
    pub motor_damping: Real,
    pub motor_max_impulse: Real,
    pub motor_impulse: Real,
    pub motor_model: SpringModel,
    // some fields omitted
}

A joint that removes all relative motion between two bodies, except for the translations along one axis.

Fields

local_anchor1: Point<Real>

Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body.

local_anchor2: Point<Real>

Where the prismatic joint is attached on the second body, expressed in the local space of the second attached body.

impulse: Vector2<Real>

The impulse applied by this joint on the first body.

The impulse applied to the second body is given by -impulse.

limits_enabled: bool

Whether or not this joint should enforce translational limits along its axis.

limits: [Real; 2]

The min an max relative position of the attached bodies along this joint’s axis.

limits_impulse: Real

The impulse applied by this joint on the first body to enforce the position limit along this joint’s axis.

The impulse applied to the second body is given by -impulse.

motor_target_vel: Real

The target relative angular velocity the motor will attempt to reach.

motor_target_pos: Real

The target relative angle along the joint axis the motor will attempt to reach.

motor_stiffness: Real

The motor’s stiffness. See the documentation of SpringModel for more information on this parameter.

motor_damping: Real

The motor’s damping. See the documentation of SpringModel for more information on this parameter.

motor_max_impulse: Real

The maximal impulse the motor is able to deliver.

motor_impulse: Real

The angular impulse applied by the motor.

motor_model: SpringModel

The spring-like model used by the motor to reach the target velocity and .

Implementations

impl PrismaticJoint[src]

pub fn new(
    local_anchor1: Point<Real>,
    local_axis1: Unit<Vector<Real>>,
    local_anchor2: Point<Real>,
    local_axis2: Unit<Vector<Real>>
) -> Self[src]

Creates a new prismatic joint with the given point of applications and axis, all expressed in the local-space of the affected bodies.

pub fn local_axis1(&self) -> Unit<Vector<Real>>[src]

The local axis of this joint, expressed in the local-space of the first attached body.

pub fn local_axis2(&self) -> Unit<Vector<Real>>[src]

The local axis of this joint, expressed in the local-space of the second attached body.

pub fn supports_simd_constraints(&self) -> bool[src]

Can a SIMD constraint be used for resolving this joint?

pub fn configure_motor_model(&mut self, model: SpringModel)[src]

Set the spring-like model used by the motor to reach the desired target velocity and position.

pub fn configure_motor_velocity(&mut self, target_vel: Real, factor: Real)[src]

Sets the target velocity this motor needs to reach.

pub fn configure_motor_position(
    &mut self,
    target_pos: Real,
    stiffness: Real,
    damping: Real
)[src]

Sets the target position this motor needs to reach.

pub fn configure_motor(
    &mut self,
    target_pos: Real,
    target_vel: Real,
    stiffness: Real,
    damping: Real
)[src]

Configure both the target position and target velocity of the motor.

Trait Implementations

impl Clone for PrismaticJoint[src]

impl Copy for PrismaticJoint[src]

impl From<PrismaticJoint> for JointParams[src]

Auto Trait Implementations

Blanket Implementations

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

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

impl<T> Downcast for T where
    T: Any, [src]

impl<T> DowncastSync for T where
    T: Any + Send + Sync, [src]

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, [src]

impl<T> Pointable for T

type Init = T

The type for initializers.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, [src]

impl<T> ToOwned for T where
    T: Clone, [src]

type Owned = T

The resulting type after obtaining ownership.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

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

The type returned in the event of a conversion error.