Struct rapier3d::dynamics::GenericJointBuilder
source · [−]pub struct GenericJointBuilder(pub GenericJoint);
Expand description
Create generic joints using the builder pattern.
Tuple Fields
0: GenericJoint
Implementations
sourceimpl GenericJointBuilder
impl GenericJointBuilder
sourcepub fn new(locked_axes: JointAxesMask) -> Self
pub fn new(locked_axes: JointAxesMask) -> Self
Creates a new generic joint builder.
sourcepub fn locked_axes(self, axes: JointAxesMask) -> Self
pub fn locked_axes(self, axes: JointAxesMask) -> Self
Sets the degrees of freedom locked by the joint.
sourcepub fn contacts_enabled(self, enabled: bool) -> Self
pub fn contacts_enabled(self, enabled: bool) -> Self
Sets whether contacts between the attached rigid-bodies are enabled.
sourcepub fn local_frame1(self, local_frame: Isometry<Real>) -> Self
pub fn local_frame1(self, local_frame: Isometry<Real>) -> Self
Sets the joint’s frame, expressed in the first rigid-body’s local-space.
sourcepub fn local_frame2(self, local_frame: Isometry<Real>) -> Self
pub fn local_frame2(self, local_frame: Isometry<Real>) -> Self
Sets the joint’s frame, expressed in the second rigid-body’s local-space.
sourcepub fn local_axis1(self, local_axis: UnitVector<Real>) -> Self
pub fn local_axis1(self, local_axis: UnitVector<Real>) -> Self
Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn local_axis2(self, local_axis: UnitVector<Real>) -> Self
pub fn local_axis2(self, local_axis: UnitVector<Real>) -> Self
Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn local_anchor1(self, anchor1: Point<Real>) -> Self
pub fn local_anchor1(self, anchor1: Point<Real>) -> Self
Sets the anchor of this joint, expressed in the first rigid-body’s local-space.
sourcepub fn local_anchor2(self, anchor2: Point<Real>) -> Self
pub fn local_anchor2(self, anchor2: Point<Real>) -> Self
Sets the anchor of this joint, expressed in the second rigid-body’s local-space.
sourcepub fn limits(self, axis: JointAxis, limits: [Real; 2]) -> Self
pub fn limits(self, axis: JointAxis, limits: [Real; 2]) -> Self
Sets the joint limits along the specified axis.
sourcepub fn coupled_axes(self, axes: JointAxesMask) -> Self
pub fn coupled_axes(self, axes: JointAxesMask) -> Self
Sets the coupled degrees of freedom for this joint’s limits and motor.
sourcepub fn motor_model(self, axis: JointAxis, model: MotorModel) -> Self
pub fn motor_model(self, axis: JointAxis, 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,
axis: JointAxis,
target_vel: Real,
factor: Real
) -> Self
pub fn motor_velocity(
self,
axis: JointAxis,
target_vel: Real,
factor: Real
) -> Self
Sets the target velocity this motor needs to reach.
sourcepub fn motor_position(
self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real
) -> Self
pub fn motor_position(
self,
axis: JointAxis,
target_pos: Real,
stiffness: Real,
damping: Real
) -> Self
Sets the target angle this motor needs to reach.
sourcepub fn set_motor(
self,
axis: JointAxis,
target_pos: Real,
target_vel: Real,
stiffness: Real,
damping: Real
) -> Self
pub fn set_motor(
self,
axis: JointAxis,
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, axis: JointAxis, max_force: Real) -> Self
pub fn motor_max_force(self, axis: JointAxis, max_force: Real) -> Self
Sets the maximum force the motor can deliver along the specified axis.
sourcepub fn build(self) -> GenericJoint
pub fn build(self) -> GenericJoint
Builds the generic joint.
Trait Implementations
sourceimpl Clone for GenericJointBuilder
impl Clone for GenericJointBuilder
sourcefn clone(&self) -> GenericJointBuilder
fn clone(&self) -> GenericJointBuilder
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 GenericJointBuilder
impl Debug for GenericJointBuilder
sourceimpl Into<GenericJoint> for GenericJointBuilder
impl Into<GenericJoint> for GenericJointBuilder
sourcefn into(self) -> GenericJoint
fn into(self) -> GenericJoint
Converts this type into the (usually inferred) input type.
sourceimpl PartialEq<GenericJointBuilder> for GenericJointBuilder
impl PartialEq<GenericJointBuilder> for GenericJointBuilder
sourcefn eq(&self, other: &GenericJointBuilder) -> bool
fn eq(&self, other: &GenericJointBuilder) -> bool
This method tests for self
and other
values to be equal, and is used
by ==
. Read more
sourcefn ne(&self, other: &GenericJointBuilder) -> bool
fn ne(&self, other: &GenericJointBuilder) -> bool
This method tests for !=
.
impl Copy for GenericJointBuilder
impl StructuralPartialEq for GenericJointBuilder
Auto Trait Implementations
impl RefUnwindSafe for GenericJointBuilder
impl Send for GenericJointBuilder
impl Sync for GenericJointBuilder
impl Unpin for GenericJointBuilder
impl UnwindSafe for GenericJointBuilder
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.