Struct rapier3d::dynamics::BallJoint

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pub struct BallJoint {Show 15 fields
    pub local_anchor1: Point<Real>,
    pub local_anchor2: Point<Real>,
    pub impulse: Vector<Real>,
    pub motor_target_vel: Vector<Real>,
    pub motor_target_pos: Rotation<Real>,
    pub motor_stiffness: Real,
    pub motor_damping: Real,
    pub motor_max_impulse: Real,
    pub motor_impulse: Vector<Real>,
    pub motor_model: SpringModel,
    pub limits_enabled: bool,
    pub limits_local_axis1: UnitVector<Real>,
    pub limits_local_axis2: UnitVector<Real>,
    pub limits_angle: Real,
    pub limits_impulse: Real,
}

Expand description

A joint that removes all relative linear motion between a pair of points on two bodies.

Fields

local_anchor1: Point<Real>

Where the ball joint is attached on the first body, expressed in the first body local frame.

local_anchor2: Point<Real>

Where the ball joint is attached on the second body, expressed in the second body local frame.

impulse: Vector<Real>

The impulse applied by this joint on the first body.

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

motor_target_vel: Vector<Real>

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

motor_target_pos: Rotation<Real>

The target angular position of this joint, expressed as an axis-angle.

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: Vector<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 .

limits_enabled: bool

Are the limits enabled for this joint?

limits_local_axis1: UnitVector<Real>

The axis of the limit cone for this joint, if the local-space of the first body.

limits_local_axis2: UnitVector<Real>

The axis of the limit cone for this joint, if the local-space of the first body.

limits_angle: Real

The maximum angle allowed between the two limit axes in world-space.

limits_impulse: Real

The impulse applied to enforce joint limits.

Implementations

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impl BallJoint

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pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self

Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.

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pub fn supports_simd_constraints(&self) -> bool

Can a SIMD constraint be used for resolving this joint?

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

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

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pub fn configure_motor_velocity(
 &mut self,
 target_vel: Vector<Real>,
 factor: Real
)

Sets the target velocity and velocity correction factor this motor.

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pub fn configure_motor_position(
 &mut self,
 target_pos: Rotation<Real>,
 stiffness: Real,
 damping: Real
)

Sets the target orientation this motor needs to reach.

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pub fn configure_motor(
 &mut self,
 target_pos: Rotation<Real>,
 target_vel: Vector<Real>,
 stiffness: Real,
 damping: Real
)

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

Trait Implementations

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impl Clone for BallJoint

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fn clone(&self) -> BallJoint

Returns a copy of the value. Read more

1.0.0 · source

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

Performs copy-assignment from source. Read more

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impl From<BallJoint> for JointParams

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fn from(j: BallJoint) -> Self

Converts to this type from the input type.

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impl PartialEq<BallJoint> for BallJoint

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fn eq(&self, other: &BallJoint) -> bool

This method tests for self and other values to be equal, and is used by ==. Read more

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fn ne(&self, other: &BallJoint) -> bool

This method tests for !=.

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impl Copy for BallJoint

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impl StructuralPartialEq for BallJoint

Auto Trait Implementations

impl RefUnwindSafe for BallJoint

impl Send for BallJoint

impl Sync for BallJoint

impl Unpin for BallJoint

impl UnwindSafe for BallJoint

Blanket Implementations

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

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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

const: unstable · source

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

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T where
T: Any,

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fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait. Read more

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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait. Read more

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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s. Read more

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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s. Read more

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

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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

const: unstable · source

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> Pointable for T

const ALIGN: usize = mem::align_of::()

The alignment of pointer.

type Init = T

The type for initializers.

unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

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impl<T> Same<T> for T

type Output = T

Should always be Self

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

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

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

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fn is_in_subset(&self) -> bool

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

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fn to_subset_unchecked(&self) -> SS

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

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fn from_subset(element: &SS) -> SP

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

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

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

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

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

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

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

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

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

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

Performs the conversion.

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

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

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

Performs the conversion.

Struct rapier3d::dynamics::BallJoint

Fields

Implementations

impl BallJoint

pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self

pub fn supports_simd_constraints(&self) -> bool

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

pub fn configure_motor_velocity( &mut self, target_vel: Vector<Real>, factor: Real)

pub fn configure_motor_position( &mut self, target_pos: Rotation<Real>, stiffness: Real, damping: Real)

pub fn configure_motor( &mut self, target_pos: Rotation<Real>, target_vel: Vector<Real>, stiffness: Real, damping: Real)

Trait Implementations

impl Clone for BallJoint

fn clone(&self) -> BallJoint

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

impl From<BallJoint> for JointParams

fn from(j: BallJoint) -> Self

impl PartialEq<BallJoint> for BallJoint

fn eq(&self, other: &BallJoint) -> bool

fn ne(&self, other: &BallJoint) -> bool

impl Copy for BallJoint

impl StructuralPartialEq for BallJoint

Auto Trait Implementations

impl RefUnwindSafe for BallJoint

impl Send for BallJoint

impl Sync for BallJoint

impl Unpin for BallJoint

impl UnwindSafe for BallJoint

Blanket Implementations

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

fn type_id(&self) -> TypeId

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

fn borrow(&self) -> &T

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

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

impl<T> Downcast for T where T: Any,

fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

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: Any + Send + Sync,

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

impl<T> From<T> for T

fn from(t: T) -> T

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

fn into(self) -> U

impl<T> Pointable for T

const ALIGN: usize = mem::align_of::()

type Init = T

unsafe fn init(init: <T as Pointable>::Init) -> usize

unsafe fn deref<'a>(ptr: usize) -> &'a T

unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

unsafe fn drop(ptr: usize)

impl<T> Same<T> for T

type Output = T

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

type Owned = T

fn to_owned(&self) -> T

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

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

type Error = Infallible

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

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

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

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

pub fn configure_motor_velocity(
&mut self,
target_vel: Vector<Real>,
factor: Real
)

pub fn configure_motor_position(
&mut self,
target_pos: Rotation<Real>,
stiffness: Real,
damping: Real
)

pub fn configure_motor(
&mut self,
target_pos: Rotation<Real>,
target_vel: Vector<Real>,
stiffness: Real,
damping: Real
)

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

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

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

impl<T> Downcast for T where
T: Any,

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

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

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

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

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

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