Struct rubullet::ConstraintInfo[−][src]

pub struct ConstraintInfo {Show fields
    pub id: ConstraintId,
    pub parent_body: BodyId,
    pub parent_link_index: Option<usize>,
    pub child_body: Option<BodyId>,
    pub child_link_index: Option<usize>,
    pub constraint_type: JointType,
    pub joint_axis: Vector3<f64>,
    pub joint_parent_frame_pose: Isometry3<f64>,
    pub joint_child_frame_pose: Isometry3<f64>,
    pub max_applied_force: f64,
    pub gear_ratio: f64,
    pub gear_aux_link: Option<usize>,
    pub relative_position_target: f64,
    pub erp: f64,
}

Expand description

contains the parameters for change_constraint method.

Fields

id: ConstraintId

the constraint for which this info is generated

parent_body: BodyId

parent body unique id

parent_link_index: Option<usize>

parent body link index or None for base link.

child_body: Option<BodyId>

child body unique id or Noneor no body (specify a non-dynamic child frame in world coordinates)

child_link_index: Option<usize>

child body link index or None for base link.

constraint_type: JointType

The JointType for the constraint

joint_axis: Vector3<f64>

joint axis, in child link frame

joint_parent_frame_pose: Isometry3<f64>

pose of the joint frame relative to parent center of mass frame.

joint_child_frame_pose: Isometry3<f64>

updated child pose, see create_constraint

max_applied_force: f64

maximum force that constraint can apply

gear_ratio: f64

the ratio between the rates at which the two gears rotate

gear_aux_link: Option<usize>

In some cases, such as a differential drive, a third (auxiliary) link is used as reference pose.

relative_position_target: f64

the relative position target offset between two gears

erp: f64

constraint error reduction parameter

Trait Implementations

impl Debug for ConstraintInfo[src]

fn fmt(&self, f: &mut Formatter<'_>) -> Result[src]

Formats the value using the given formatter. Read more

impl From<b3UserConstraint> for ConstraintInfo[src]

fn from(b3: b3UserConstraint) -> Self[src]

Performs the conversion.

Auto Trait Implementations

impl RefUnwindSafe for ConstraintInfo

impl Send for ConstraintInfo

impl Sync for ConstraintInfo

impl Unpin for ConstraintInfo

impl UnwindSafe for ConstraintInfo

Blanket Implementations

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

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

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized,

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

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized,

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

Mutably borrows from an owned value. 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>,

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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>,

pub fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

pub fn is_in_subset(&self) -> bool

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

pub fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

pub fn from_subset(element: &SS) -> SP

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

impl<T, U> TryFrom<U> for T where
    U: Into<T>,

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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>,

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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.

impl<V, T> VZip<V> for T where
    V: MultiLane<T>,

pub fn vzip(self) -> V