Struct rapier3d::dynamics::SphericalJoint
source · [−]#[repr(transparent)]pub struct SphericalJoint { /* private fields */ }
Expand description
A spherical joint, locks all relative translations between two bodies.
Implementations
sourceimpl SphericalJoint
impl SphericalJoint
sourcepub fn new() -> Self
pub fn new() -> Self
Creates a new spherical joint locking all relative translations between two 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 motor(&self, axis: JointAxis) -> Option<&JointMotor>
pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>
The motor affecting the joint’s rotational degree of freedom along the specified axis.
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(
&mut self,
axis: JointAxis,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real
) -> &mut Self
pub fn set_motor(
&mut self,
axis: JointAxis,
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,
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.
Trait Implementations
sourceimpl Clone for SphericalJoint
impl Clone for SphericalJoint
sourcefn clone(&self) -> SphericalJoint
fn clone(&self) -> SphericalJoint
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 SphericalJoint
impl Debug for SphericalJoint
sourceimpl Default for SphericalJoint
impl Default for SphericalJoint
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 PartialEq<SphericalJoint> for SphericalJoint
impl PartialEq<SphericalJoint> for SphericalJoint
sourcefn eq(&self, other: &SphericalJoint) -> bool
fn eq(&self, other: &SphericalJoint) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &SphericalJoint) -> bool
fn ne(&self, other: &SphericalJoint) -> bool
This method tests for !=
.
impl Copy for SphericalJoint
impl StructuralPartialEq for SphericalJoint
Auto Trait Implementations
impl RefUnwindSafe for SphericalJoint
impl Send for SphericalJoint
impl Sync for SphericalJoint
impl Unpin for SphericalJoint
impl UnwindSafe for SphericalJoint
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