Struct rapier3d::dynamics::PrismaticJoint

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#[repr(transparent)]
pub struct PrismaticJoint { /* private fields */ }

Expand description

A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.

Implementations

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impl PrismaticJoint

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pub fn new(axis: UnitVector<Real>) -> Self

Creates a new prismatic joint allowing only relative translations along the specified axis.

This axis is expressed in the local-space of both rigid-bodies.

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pub fn data(&self) -> &GenericJoint

The underlying generic joint.

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pub fn local_anchor1(&self) -> Point<Real>

The joint’s anchor, expressed in the local-space of the first rigid-body.

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pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self

Sets the joint’s anchor, expressed in the local-space of the first rigid-body.

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pub fn local_anchor2(&self) -> Point<Real>

The joint’s anchor, expressed in the local-space of the second rigid-body.

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pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self

Sets the joint’s anchor, expressed in the local-space of the second rigid-body.

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pub fn local_axis1(&self) -> UnitVector<Real>

The principal axis of the joint, expressed in the local-space of the first rigid-body.

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pub fn set_local_axis1(&mut self, axis1: UnitVector<Real>) -> &mut Self

Sets the principal axis of the joint, expressed in the local-space of the first rigid-body.

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pub fn local_axis2(&self) -> UnitVector<Real>

The principal axis of the joint, expressed in the local-space of the second rigid-body.

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pub fn set_local_axis2(&mut self, axis2: UnitVector<Real>) -> &mut Self

Sets the principal axis of the joint, expressed in the local-space of the second rigid-body.

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pub fn motor(&self) -> Option<&JointMotor>

The motor affecting the joint’s translational degree of freedom.

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pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self

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

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pub fn set_motor_velocity(
    &mut self,
    target_vel: Real,
    factor: Real
) -> &mut Self

Sets the target velocity this motor needs to reach.

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pub fn set_motor_position(
    &mut self,
    target_pos: Real,
    stiffness: Real,
    damping: Real
) -> &mut Self

Sets the target angle this motor needs to reach.

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pub fn set_motor(
    &mut self,
    target_pos: Real,
    target_vel: Real,
    stiffness: Real,
    damping: Real
) -> &mut Self

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

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pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self

Sets the maximum force the motor can deliver.

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pub fn limits(&self) -> Option<&JointLimits<Real>>

The limit distance attached bodies can translate along the joint’s principal axis.

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pub fn set_limits(&mut self, limits: [Real ; 2]) -> &mut Self

Sets the [min,max] limit distances attached bodies can translate along the joint’s principal axis.

Trait Implementations

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impl Clone for PrismaticJoint

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fn clone(&self) -> PrismaticJoint

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl Debug for PrismaticJoint

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

Formats the value using the given formatter. Read more

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impl Into<GenericJoint> for PrismaticJoint

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fn into(self) -> GenericJoint

Converts this type into the (usually inferred) input type.

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impl PartialEq<PrismaticJoint> for PrismaticJoint

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

This method tests for !=.

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impl Copy for PrismaticJoint

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impl StructuralPartialEq for PrismaticJoint

Auto Trait Implementations

impl RefUnwindSafe for PrismaticJoint

impl Send for PrismaticJoint

impl Sync for PrismaticJoint

impl Unpin for PrismaticJoint

impl UnwindSafe for PrismaticJoint

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.

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Struct rapier3d::dynamics::PrismaticJoint

Implementations

impl PrismaticJoint

pub fn new(axis: UnitVector<Real>) -> Self

pub fn data(&self) -> &GenericJoint

pub fn local_anchor1(&self) -> Point<Real>

pub fn set_local_anchor1(&mut self, anchor1: Point<Real>) -> &mut Self

pub fn local_anchor2(&self) -> Point<Real>

pub fn set_local_anchor2(&mut self, anchor2: Point<Real>) -> &mut Self

pub fn local_axis1(&self) -> UnitVector<Real>

pub fn set_local_axis1(&mut self, axis1: UnitVector<Real>) -> &mut Self

pub fn local_axis2(&self) -> UnitVector<Real>

pub fn set_local_axis2(&mut self, axis2: UnitVector<Real>) -> &mut Self

pub fn motor(&self) -> Option<&JointMotor>

pub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self

pub fn set_motor_velocity( &mut self, target_vel: Real, factor: Real) -> &mut Self

pub fn set_motor_position( &mut self, target_pos: Real, stiffness: Real, damping: Real) -> &mut Self

pub fn set_motor( &mut self, target_pos: Real, target_vel: Real, stiffness: Real, damping: Real) -> &mut Self

pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self

pub fn limits(&self) -> Option<&JointLimits<Real>>

pub fn set_limits(&mut self, limits: [Real; 2]) -> &mut Self

Trait Implementations

impl Clone for PrismaticJoint

fn clone(&self) -> PrismaticJoint

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

impl Debug for PrismaticJoint

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

impl Into<GenericJoint> for PrismaticJoint

fn into(self) -> GenericJoint

impl PartialEq<PrismaticJoint> for PrismaticJoint

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

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

impl Copy for PrismaticJoint

impl StructuralPartialEq for PrismaticJoint

Auto Trait Implementations

impl RefUnwindSafe for PrismaticJoint

impl Send for PrismaticJoint

impl Sync for PrismaticJoint

impl Unpin for PrismaticJoint

impl UnwindSafe for PrismaticJoint

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>,

pub fn set_motor_velocity(
&mut self,
target_vel: Real,
factor: Real
) -> &mut Self

pub fn set_motor_position(
&mut self,
target_pos: Real,
stiffness: Real,
damping: Real
) -> &mut Self

pub fn set_motor(
&mut self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real
) -> &mut Self

pub fn set_limits(&mut self, limits: [Real ; 2]) -> &mut Self

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>,

impl<T> Scalar for T where
T: 'static + Clone + PartialEq<T> + Debug,