Struct rapier3d::dynamics::FixedJoint

pub struct FixedJoint {
    pub local_anchor1: Isometry<Real>,
    pub local_anchor2: Isometry<Real>,
    pub impulse: SpacialVector<Real>,
}

A joint that prevents all relative movement between two bodies.

Given two frames of references, this joint aims to ensure these frame always coincide in world-space.

Fields

local_anchor1: Isometry<Real>

The frame of reference for the first body affected by this joint, expressed in the local frame of the first body.

local_anchor2: Isometry<Real>

The frame of reference for the second body affected by this joint, expressed in the local frame of the first body.

impulse: SpacialVector<Real>

The impulse applied to the first body affected by this joint.

The impulse applied to the second body affected by this joint is given by -impulse. This combines both linear and angular impulses:

• In 2D, impulse.xy() gives the linear impulse, and impulse.z the angular impulse.
• In 3D, impulse.xyz() gives the linear impulse, and (impulse[3], impulse[4], impulse[5]) the angular impulse.

Implementations

impl FixedJoint

pub fn new(local_anchor1: Isometry<Real>, local_anchor2: Isometry<Real>) -> Self

Creates a new fixed joint from the frames of reference of both bodies.

Trait Implementations

impl Clone for FixedJoint

fn clone(&self) -> FixedJoint

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for FixedJoint

impl From<FixedJoint> for JointParams

fn from(j: FixedJoint) -> Self

Performs the conversion.