Struct rapier3d::dynamics::RevoluteJoint[−][src]

pub struct RevoluteJoint {
Show fields
    pub local_anchor1: Point<Real>,
    pub local_anchor2: Point<Real>,
    pub local_axis1: Unit<Vector<Real>>,
    pub local_axis2: Unit<Vector<Real>>,
    pub basis1: [Vector<Real>; 2],
    pub basis2: [Vector<Real>; 2],
    pub impulse: Vector5<Real>,
    pub motor_target_vel: Real,
    pub motor_target_pos: Real,
    pub motor_stiffness: Real,
    pub motor_damping: Real,
    pub motor_max_impulse: Real,
    pub motor_impulse: Real,
    pub motor_model: SpringModel,
    // some fields omitted

}
Expand description

A joint that removes all relative motion between two bodies, except for the rotations along one axis.

Fields

local_anchor1: Point<Real>

Where the revolute joint is attached on the first body, expressed in the local space of the first attached body.

local_anchor2: Point<Real>

Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.

local_axis1: Unit<Vector<Real>>

The rotation axis of this revolute joint expressed in the local space of the first attached body.

local_axis2: Unit<Vector<Real>>

The rotation axis of this revolute joint expressed in the local space of the second attached body.

basis1: [Vector<Real>; 2]

The basis orthonormal to local_axis1, expressed in the local space of the first attached body.

basis2: [Vector<Real>; 2]

The basis orthonormal to local_axis2, expressed in the local space of the second attached body.

impulse: Vector5<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: Real

The target relative angular velocity the motor will attempt to reach.

motor_target_pos: Real

The target relative angle along the joint axis the motor will attempt to reach.

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: 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 RevoluteJoint[src]

pub fn new(
    local_anchor1: Point<Real>,
    local_axis1: Unit<Vector<Real>>,
    local_anchor2: Point<Real>,
    local_axis2: Unit<Vector<Real>>
) -> Self[src]

Creates a new revolute joint with the given point of applications and axis, all expressed in the local-space of the affected bodies.

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)[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: Real, factor: Real)[src]

Sets the target velocity this motor needs to reach.

pub fn configure_motor_position(
    &mut self,
    target_pos: Real,
    stiffness: Real,
    damping: Real
)[src]

Sets the target angle this motor needs to reach.

pub fn configure_motor(
    &mut self,
    target_pos: Real,
    target_vel: Real,
    stiffness: Real,
    damping: Real
)[src]

Configure both the target angle and target velocity of the motor.

pub fn estimate_motor_angle(
    &self,
    body_pos1: &Isometry<Real>,
    body_pos2: &Isometry<Real>
) -> Real[src]

Estimates the current position of the motor angle.

Trait Implementations

impl Clone for RevoluteJoint[src]

fn clone(&self) -> RevoluteJoint[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl From<RevoluteJoint> for JointParams[src]

fn from(j: RevoluteJoint) -> Self[src]

Performs the conversion.

impl Copy for RevoluteJoint[src]

Auto Trait Implementations

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

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, [src]

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> where ConcreteType implements Trait. Read more

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> where ConcreteType implements Trait. Read more

pub fn as_any(&self) -> &(dyn Any + 'static)[src]

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s. Read more

pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)[src]

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impl<T> DowncastSync for T where
    T: Any + Send + Sync, [src]

pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Send + Sync>[src]

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>, [src]

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Pointable for T

pub const ALIGN: usize

The alignment of pointer.

type Init = T

The type for initializers.

pub unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

pub unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

pub unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, [src]

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[src]

Checks if self is actually part of its subset T (and can be converted to it).

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[src]

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T where
    T: Clone, [src]

type Owned = T

The resulting type after obtaining ownership.

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)[src]

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

type Error = Infallible

The type returned in the event of a conversion error.

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

Performs the conversion.