Struct rapier3d::dynamics::MultibodyJoint
source · [−]pub struct MultibodyJoint {
pub data: GenericJoint,
/* private fields */
}
Expand description
An joint attached to two bodies based on the reduced coordinates formalism.
Fields
data: GenericJoint
The joint’s description.
Implementations
sourceimpl MultibodyJoint
impl MultibodyJoint
sourcepub fn new(data: GenericJoint) -> Self
pub fn new(data: GenericJoint) -> Self
Creates a new multibody joint from its description.
sourcepub fn body_to_parent(&self) -> Isometry<Real>
pub fn body_to_parent(&self) -> Isometry<Real>
The position of the multibody link containing this multibody_joint relative to its parent.
sourcepub fn integrate(&mut self, dt: Real, vels: &[Real])
pub fn integrate(&mut self, dt: Real, vels: &[Real])
Integrate the position of this multibody_joint.
sourcepub fn apply_displacement(&mut self, disp: &[Real])
pub fn apply_displacement(&mut self, disp: &[Real])
Apply a displacement to the multibody_joint.
sourcepub fn jacobian(
&self,
transform: &Rotation<Real>,
out: &mut JacobianSliceMut<'_, Real>
)
pub fn jacobian(
&self,
transform: &Rotation<Real>,
out: &mut JacobianSliceMut<'_, Real>
)
Sets in out
the non-zero entries of the multibody_joint jacobian transformed by transform
.
sourcepub fn jacobian_mul_coordinates(&self, acc: &[Real]) -> RigidBodyVelocity
pub fn jacobian_mul_coordinates(&self, acc: &[Real]) -> RigidBodyVelocity
Multiply the multibody_joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this multibody_joint.
sourcepub fn default_damping(&self, out: &mut DVectorSliceMut<'_, Real>)
pub fn default_damping(&self, out: &mut DVectorSliceMut<'_, Real>)
Fill out
with the non-zero entries of a damping that can be applied by default to ensure a good stability of the multibody_joint.
sourcepub fn num_velocity_constraints(&self) -> usize
pub fn num_velocity_constraints(&self) -> usize
Maximum number of velocity constrains that can be generated by this multibody_joint.
sourcepub fn velocity_constraints(
&self,
params: &IntegrationParameters,
multibody: &Multibody,
link: &MultibodyLink,
dof_id: usize,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
constraints: &mut Vec<AnyJointVelocityConstraint>,
insert_at: &mut Option<usize>
)
pub fn velocity_constraints(
&self,
params: &IntegrationParameters,
multibody: &Multibody,
link: &MultibodyLink,
dof_id: usize,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
constraints: &mut Vec<AnyJointVelocityConstraint>,
insert_at: &mut Option<usize>
)
Initialize and generate velocity constraints to enforce, e.g., multibody_joint limits and motors.
Trait Implementations
sourceimpl Clone for MultibodyJoint
impl Clone for MultibodyJoint
sourcefn clone(&self) -> MultibodyJoint
fn clone(&self) -> MultibodyJoint
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 MultibodyJoint
impl Debug for MultibodyJoint
impl Copy for MultibodyJoint
Auto Trait Implementations
impl RefUnwindSafe for MultibodyJoint
impl Send for MultibodyJoint
impl Sync for MultibodyJoint
impl Unpin for MultibodyJoint
impl UnwindSafe for MultibodyJoint
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