Struct rapier3d::dynamics::PrismaticJoint
source · [−]#[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
sourceimpl PrismaticJoint
impl PrismaticJoint
sourcepub fn new(axis: UnitVector<Real>) -> Self
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.
sourcepub fn data(&self) -> &GenericJoint
pub fn data(&self) -> &GenericJoint
The underlying generic joint.
sourcepub fn local_anchor1(&self) -> Point<Real>
pub fn local_anchor1(&self) -> Point<Real>
The joint’s anchor, expressed in the local-space of the first rigid-body.
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 the joint’s anchor, expressed in the local-space of the first rigid-body.
sourcepub fn local_anchor2(&self) -> Point<Real>
pub fn local_anchor2(&self) -> Point<Real>
The joint’s anchor, expressed in the local-space of the second rigid-body.
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 the joint’s anchor, expressed in the local-space of the second rigid-body.
sourcepub fn local_axis1(&self) -> UnitVector<Real>
pub fn local_axis1(&self) -> UnitVector<Real>
The principal axis of the joint, expressed in the local-space of the first rigid-body.
sourcepub fn set_local_axis1(&mut self, axis1: UnitVector<Real>) -> &mut Self
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.
sourcepub fn local_axis2(&self) -> UnitVector<Real>
pub fn local_axis2(&self) -> UnitVector<Real>
The principal axis of the joint, expressed in the local-space of the second rigid-body.
sourcepub fn set_local_axis2(&mut self, axis2: UnitVector<Real>) -> &mut Self
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.
sourcepub fn motor(&self) -> Option<&JointMotor>
pub fn motor(&self) -> Option<&JointMotor>
The motor affecting the joint’s translational degree of freedom.
sourcepub fn set_motor_model(&mut self, model: MotorModel) -> &mut Self
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.
sourcepub fn set_motor_velocity(
&mut self,
target_vel: Real,
factor: Real
) -> &mut Self
pub fn set_motor_velocity(
&mut self,
target_vel: Real,
factor: Real
) -> &mut Self
Sets the target velocity this motor needs to reach.
sourcepub fn set_motor_position(
&mut self,
target_pos: Real,
stiffness: Real,
damping: Real
) -> &mut Self
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.
sourcepub fn set_motor(
&mut self,
target_pos: Real,
target_vel: 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
Configure both the target angle and target velocity of the motor.
sourcepub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self
pub fn set_motor_max_force(&mut self, max_force: Real) -> &mut Self
Sets the maximum force the motor can deliver.
sourcepub fn limits(&self) -> Option<&JointLimits<Real>>
pub fn limits(&self) -> Option<&JointLimits<Real>>
The limit distance attached bodies can translate along the joint’s principal axis.
Trait Implementations
sourceimpl Clone for PrismaticJoint
impl Clone for PrismaticJoint
sourcefn clone(&self) -> PrismaticJoint
fn clone(&self) -> PrismaticJoint
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 PrismaticJoint
impl Debug for PrismaticJoint
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 PartialEq<PrismaticJoint> for PrismaticJoint
impl PartialEq<PrismaticJoint> for PrismaticJoint
sourcefn eq(&self, other: &PrismaticJoint) -> bool
fn eq(&self, other: &PrismaticJoint) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &PrismaticJoint) -> bool
fn ne(&self, other: &PrismaticJoint) -> bool
This method tests for !=
.
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
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