Struct rapier3d::dynamics::BallJoint [−][src]
pub struct BallJoint { pub local_anchor1: Point<Real>, pub local_anchor2: Point<Real>, pub impulse: Vector<Real>, pub motor_target_vel: Vector<Real>, pub motor_target_pos: Rotation<Real>, pub motor_stiffness: Real, pub motor_damping: Real, pub motor_max_impulse: Real, pub motor_impulse: Vector<Real>, pub motor_model: SpringModel, }
Expand description
A joint that removes all relative linear motion between a pair of points on two bodies.
Fields
local_anchor1: Point<Real>
Where the ball joint is attached on the first body, expressed in the first body local frame.
local_anchor2: Point<Real>
Where the ball joint is attached on the first body, expressed in the first body local frame.
impulse: Vector<Real>
The impulse applied by this joint on the first body.
The impulse applied to the second body is given by -impulse
.
motor_target_vel: Vector<Real>
The target relative angular velocity the motor will attempt to reach.
motor_target_pos: Rotation<Real>
The target angular position of this joint, expressed as an axis-angle.
motor_stiffness: Real
The motor’s stiffness.
See the documentation of SpringModel
for more information on this parameter.
motor_damping: Real
The motor’s damping.
See the documentation of SpringModel
for more information on this parameter.
motor_max_impulse: Real
The maximal impulse the motor is able to deliver.
motor_impulse: Vector<Real>
The angular impulse applied by the motor.
motor_model: SpringModel
The spring-like model used by the motor to reach the target velocity and .
Implementations
impl BallJoint
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impl BallJoint
[src]pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self
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pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self
[src]Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
pub fn supports_simd_constraints(&self) -> bool
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pub fn supports_simd_constraints(&self) -> bool
[src]Can a SIMD constraint be used for resolving this joint?
pub fn configure_motor_model(&mut self, model: SpringModel)
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pub fn configure_motor_model(&mut self, model: SpringModel)
[src]Set the spring-like model used by the motor to reach the desired target velocity and position.
pub fn configure_motor_velocity(
&mut self,
target_vel: Vector<Real>,
factor: Real
)
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pub fn configure_motor_velocity(
&mut self,
target_vel: Vector<Real>,
factor: Real
)
[src]Sets the target velocity and velocity correction factor this motor.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for BallJoint
impl Send for BallJoint
impl Sync for BallJoint
impl Unpin for BallJoint
impl UnwindSafe for BallJoint
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
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impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
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pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
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impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
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) to &Any
. This is needed since Rust cannot
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’s vtable from &Trait
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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) to &Any
. This is needed since Rust cannot
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Pointable for T
impl<T> Pointable for T
impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
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pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
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pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
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pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
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pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
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impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
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pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
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recently added
Uses borrowed data to replace owned data, usually by cloning. Read more