Struct rapier3d::dynamics::PrismaticJointBuilder
source · [−]pub struct PrismaticJointBuilder(_);
Expand description
Create prismatic joints using the builder pattern.
A prismatic joint locks all relative motion except for translations along the joint’s principal axis.
Implementations
sourceimpl PrismaticJointBuilder
impl PrismaticJointBuilder
sourcepub fn new(axis: UnitVector<Real>) -> Self
pub fn new(axis: UnitVector<Real>) -> Self
Creates a new builder for prismatic joints.
This axis is expressed in the local-space of both rigid-bodies.
sourcepub fn local_anchor1(self, anchor1: Point<Real>) -> Self
pub fn local_anchor1(self, anchor1: Point<Real>) -> Self
Sets the joint’s anchor, expressed in the local-space of the first rigid-body.
sourcepub fn local_anchor2(self, anchor2: Point<Real>) -> Self
pub fn local_anchor2(self, anchor2: Point<Real>) -> Self
Sets the joint’s anchor, expressed in the local-space of the second rigid-body.
sourcepub fn local_axis1(self, axis1: UnitVector<Real>) -> Self
pub fn local_axis1(self, axis1: UnitVector<Real>) -> Self
Sets the principal axis of the joint, expressed in the local-space of the first rigid-body.
sourcepub fn local_axis2(self, axis2: UnitVector<Real>) -> Self
pub fn local_axis2(self, axis2: UnitVector<Real>) -> Self
Sets the principal axis of the joint, expressed in the local-space of the second rigid-body.
sourcepub fn motor_model(self, model: MotorModel) -> Self
pub fn motor_model(self, model: MotorModel) -> Self
Set the spring-like model used by the motor to reach the desired target velocity and position.
sourcepub fn motor_velocity(self, target_vel: Real, factor: Real) -> Self
pub fn motor_velocity(self, target_vel: Real, factor: Real) -> Self
Sets the target velocity this motor needs to reach.
sourcepub fn motor_position(
self,
target_pos: Real,
stiffness: Real,
damping: Real
) -> Self
pub fn motor_position(
self,
target_pos: Real,
stiffness: Real,
damping: Real
) -> Self
Sets the target angle this motor needs to reach.
sourcepub fn set_motor(
self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real
) -> Self
pub fn set_motor(
self,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real
) -> Self
Configure both the target angle and target velocity of the motor.
sourcepub fn motor_max_force(self, max_force: Real) -> Self
pub fn motor_max_force(self, max_force: Real) -> Self
Sets the maximum force the motor can deliver.
sourcepub fn limits(self, limits: [Real; 2]) -> Self
pub fn limits(self, limits: [Real; 2]) -> Self
Sets the [min,max]
limit distances attached bodies can translate along the joint’s principal axis.
sourcepub fn build(self) -> PrismaticJoint
pub fn build(self) -> PrismaticJoint
Builds the prismatic joint.
Trait Implementations
sourceimpl Clone for PrismaticJointBuilder
impl Clone for PrismaticJointBuilder
sourcefn clone(&self) -> PrismaticJointBuilder
fn clone(&self) -> PrismaticJointBuilder
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 PrismaticJointBuilder
impl Debug for PrismaticJointBuilder
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 PartialEq<PrismaticJointBuilder> for PrismaticJointBuilder
impl PartialEq<PrismaticJointBuilder> for PrismaticJointBuilder
sourcefn eq(&self, other: &PrismaticJointBuilder) -> bool
fn eq(&self, other: &PrismaticJointBuilder) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &PrismaticJointBuilder) -> bool
fn ne(&self, other: &PrismaticJointBuilder) -> bool
This method tests for !=
.
impl Copy for PrismaticJointBuilder
impl StructuralPartialEq for PrismaticJointBuilder
Auto Trait Implementations
impl RefUnwindSafe for PrismaticJointBuilder
impl Send for PrismaticJointBuilder
impl Sync for PrismaticJointBuilder
impl Unpin for PrismaticJointBuilder
impl UnwindSafe for PrismaticJointBuilder
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