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
Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
Can a SIMD constraint be used for resolving this joint?
Set the spring-like model used by the motor to reach the desired target velocity and position.
Sets the target velocity and velocity correction factor this motor.
Sets the target orientation this motor needs to reach.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for BallJoint
impl UnwindSafe for BallJoint
Blanket Implementations
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