Struct rapier3d::dynamics::GenericJoint
source · [−]pub struct GenericJoint {
pub local_frame1: Isometry<Real>,
pub local_frame2: Isometry<Real>,
pub locked_axes: JointAxesMask,
pub limit_axes: JointAxesMask,
pub motor_axes: JointAxesMask,
pub coupled_axes: JointAxesMask,
pub limits: [JointLimits<Real>; 6],
pub motors: [JointMotor; 6],
}
Expand description
A generic joint.
Fields
local_frame1: Isometry<Real>
The joint’s frame, expressed in the first rigid-body’s local-space.
local_frame2: Isometry<Real>
The joint’s frame, expressed in the second rigid-body’s local-space.
locked_axes: JointAxesMask
The degrees-of-freedoms locked by this joint.
limit_axes: JointAxesMask
The degrees-of-freedoms limited by this joint.
motor_axes: JointAxesMask
The degrees-of-freedoms motorised by this joint.
coupled_axes: JointAxesMask
The coupled degrees of freedom of this joint.
limits: [JointLimits<Real>; 6]
The limits, along each degrees of freedoms of this joint.
Note that the limit must also be explicitly enabled by the limit_axes
bitmask.
motors: [JointMotor; 6]
The motors, along each degrees of freedoms of this joint.
Note that the mostor must also be explicitly enabled by the motors
bitmask.
Implementations
sourceimpl GenericJoint
impl GenericJoint
sourcepub fn new(locked_axes: JointAxesMask) -> Self
pub fn new(locked_axes: JointAxesMask) -> Self
Creates a new generic joint that locks the specified degrees of freedom.
sourcepub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self
pub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self
Add the specified axes to the set of axes locked by this joint.
sourcepub fn set_local_frame1(&mut self, local_frame: Isometry<Real>) -> &mut Self
pub fn set_local_frame1(&mut self, local_frame: Isometry<Real>) -> &mut Self
Sets the joint’s frame, expressed in the first rigid-body’s local-space.
sourcepub fn set_local_frame2(&mut self, local_frame: Isometry<Real>) -> &mut Self
pub fn set_local_frame2(&mut self, local_frame: Isometry<Real>) -> &mut Self
Sets the joint’s frame, expressed in the second rigid-body’s local-space.
sourcepub fn local_axis1(&self) -> UnitVector<Real>
pub fn local_axis1(&self) -> UnitVector<Real>
The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn set_local_axis1(&mut self, local_axis: UnitVector<Real>) -> &mut Self
pub fn set_local_axis1(&mut self, local_axis: UnitVector<Real>) -> &mut Self
Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn local_axis2(&self) -> UnitVector<Real>
pub fn local_axis2(&self) -> UnitVector<Real>
The principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn set_local_axis2(&mut self, local_axis: UnitVector<Real>) -> &mut Self
pub fn set_local_axis2(&mut self, local_axis: UnitVector<Real>) -> &mut Self
Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn local_anchor1(&self) -> Point<Real>
pub fn local_anchor1(&self) -> Point<Real>
The anchor of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self
pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self
Sets anchor of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn local_anchor2(&self) -> Point<Real>
pub fn local_anchor2(&self) -> Point<Real>
The anchor of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self
pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self
Sets anchor of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>>
pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>>
The joint limits along the specified axis.
sourcepub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self
pub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self
Sets the joint limits along the specified axis.
sourcepub fn motor_model(&self, axis: JointAxis) -> Option<MotorModel>
pub fn motor_model(&self, axis: JointAxis) -> Option<MotorModel>
The spring-like motor model along the specified axis of this joint.
sourcepub fn set_motor_model(
&mut self,
axis: JointAxis,
model: MotorModel
) -> &mut Self
pub fn set_motor_model(
&mut self,
axis: JointAxis,
model: MotorModel
) -> &mut Self
Set the spring-like model used by the motor to reach the desired target velocity and position.
sourcepub fn set_motor_velocity(
&mut self,
axis: JointAxis,
target_vel: Real,
factor: Real
) -> &mut Self
pub fn set_motor_velocity(
&mut self,
axis: JointAxis,
target_vel: Real,
factor: Real
) -> &mut Self
Sets the target velocity this motor needs to reach.
sourcepub fn set_motor_position(
&mut self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real
) -> &mut Self
pub fn set_motor_position(
&mut self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real
) -> &mut Self
Sets the target angle this motor needs to reach.
sourcepub fn set_motor_max_force(
&mut self,
axis: JointAxis,
max_force: Real
) -> &mut Self
pub fn set_motor_max_force(
&mut self,
axis: JointAxis,
max_force: Real
) -> &mut Self
Sets the maximum force the motor can deliver along the specified axis.
sourcepub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>
pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>
The motor affecting the joint’s degree of freedom along the specified axis.
sourceimpl GenericJoint
impl GenericJoint
sourcepub fn as_revolute(&self) -> Option<&RevoluteJoint>
pub fn as_revolute(&self) -> Option<&RevoluteJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_revolute_mut(&mut self) -> Option<&mut RevoluteJoint>
pub fn as_revolute_mut(&mut self) -> Option<&mut RevoluteJoint>
Converts the joint to its specific mutable variant, if it is one.
sourcepub fn as_fixed(&self) -> Option<&FixedJoint>
pub fn as_fixed(&self) -> Option<&FixedJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_fixed_mut(&mut self) -> Option<&mut FixedJoint>
pub fn as_fixed_mut(&mut self) -> Option<&mut FixedJoint>
Converts the joint to its specific mutable variant, if it is one.
sourcepub fn as_prismatic(&self) -> Option<&PrismaticJoint>
pub fn as_prismatic(&self) -> Option<&PrismaticJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_prismatic_mut(&mut self) -> Option<&mut PrismaticJoint>
pub fn as_prismatic_mut(&mut self) -> Option<&mut PrismaticJoint>
Converts the joint to its specific mutable variant, if it is one.
sourcepub fn as_spherical(&self) -> Option<&SphericalJoint>
pub fn as_spherical(&self) -> Option<&SphericalJoint>
Converts the joint to its specific variant, if it is one.
sourcepub fn as_spherical_mut(&mut self) -> Option<&mut SphericalJoint>
pub fn as_spherical_mut(&mut self) -> Option<&mut SphericalJoint>
Converts the joint to its specific mutable variant, if it is one.
Trait Implementations
sourceimpl Clone for GenericJoint
impl Clone for GenericJoint
sourcefn clone(&self) -> GenericJoint
fn clone(&self) -> GenericJoint
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl Debug for GenericJoint
impl Debug for GenericJoint
sourceimpl Default for GenericJoint
impl Default for GenericJoint
sourceimpl Into<GenericJoint> for FixedJoint
impl Into<GenericJoint> for FixedJoint
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for FixedJointBuilder
impl Into<GenericJoint> for FixedJointBuilder
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for GenericJointBuilder
impl Into<GenericJoint> for GenericJointBuilder
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for PrismaticJoint
impl Into<GenericJoint> for PrismaticJoint
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for PrismaticJointBuilder
impl Into<GenericJoint> for PrismaticJointBuilder
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for RevoluteJoint
impl Into<GenericJoint> for RevoluteJoint
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for RevoluteJointBuilder
impl Into<GenericJoint> for RevoluteJointBuilder
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for SphericalJoint
impl Into<GenericJoint> for SphericalJoint
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl Into<GenericJoint> for SphericalJointBuilder
impl Into<GenericJoint> for SphericalJointBuilder
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl PartialEq<GenericJoint> for GenericJoint
impl PartialEq<GenericJoint> for GenericJoint
sourcefn eq(&self, other: &GenericJoint) -> bool
fn eq(&self, other: &GenericJoint) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &GenericJoint) -> bool
fn ne(&self, other: &GenericJoint) -> bool
This method tests for !=
.
impl Copy for GenericJoint
impl StructuralPartialEq for GenericJoint
Auto Trait Implementations
impl RefUnwindSafe for GenericJoint
impl Send for GenericJoint
impl Sync for GenericJoint
impl Unpin for GenericJoint
impl UnwindSafe for GenericJoint
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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
sourcefn as_any(&self) -> &(dyn Any + 'static)
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
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> Pointable for T
impl<T> Pointable for T
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more