Struct JointFrame

pub struct JointFrame {
    pub anchor: JointAnchor,
    pub basis: JointBasis,
}

The reference frame of a body that is being constrained by a joint.

Each joint defines a connection between the translation and rotation of two reference frames. For example, a RevoluteJoint aims to make the positions of the two frames coincide in world space, while allowing the frames to rotate freely around a common axis.

Reference frames for joints are expressed by a local JointAnchor and JointBasis relative to the transforms of the bodies. The anchor determines the attachment point, while the basis determines the orientation of the joint frame relative to the body transform. Together, they form a local isometry that defines the joint frame.

Storing the frames in local space allows the initial configuration to be preserved even when the bodies are moved. The frames can also be specified in global coordinates using JointFrame::global, but they are automatically converted to local frames during the next simulation step.

Example

// Connect two bodies with a revolute joint.
// Set the global anchor point and rotate the first frame by 45 degrees about the local z axis.
commands.spawn((
    RevoluteJoint::new(body1, body2)
        .with_anchor(Vec2::new(5.0, 2.0))
        .with_local_basis1(PI / 4.0),
));

Fields

anchor: JointAnchor

The translation of the joint frame relative to the body transform.

This defines the anchor point where the bodies are attached to each other.

basis: JointBasis

The rotation of the joint frame relative to the body transform.

This defines the orientation of the basis relative to the body transform.

Implementations

impl JointFrame

pub const IDENTITY: Self

The identity reference frame, with the local anchor and basis set to zero.

This represents a reference frame that aligns with the body transform.

pub fn local(isometry: impl Into<Isometry2d>) -> Self

Creates a JointFrame with the given local isometry.

pub fn global(isometry: impl Into<Isometry2d>) -> Self

Creates a JointFrame with the given global isometry.

The global frame will be converted to a local frame relative to the body transform during the next simulation step.

pub fn get_local_isometry(&self) -> Option<Isometry2d>

Returns the joint frame as a local isometry.

If the frame is specified in global coordinates, this returns None.

pub fn get_global_isometry(&self) -> Option<Isometry2d>

Returns the joint frame as a global isometry.

If the frame is specified in local coordinates, this returns None.

pub fn compute_local( frame1: Self, frame2: Self, pos1: Vector, pos2: Vector, rot1: &Rotation, rot2: &Rotation, ) -> [JointFrame; 2]

Computes a local frames for the given JointFrames corresponding to the transforms of two bodies constrained by a joint.

This is used to initialize local frames when a joint is inserted.

Trait Implementations

impl Clone for JointFrame

fn clone(&self) -> JointFrame

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointFrame

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

Formats the value using the given formatter.

impl Default for JointFrame

fn default() -> JointFrame

Returns the “default value” for a type.

impl From<JointAnchor> for JointFrame

fn from(anchor: JointAnchor) -> Self

Converts to this type from the input type.

impl From<JointBasis> for JointFrame

fn from(basis: JointBasis) -> Self

Converts to this type from the input type.

impl FromReflect for JointFrame

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for JointFrame

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl PartialEq for JointFrame

fn eq(&self, other: &JointFrame) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PartialReflect for JointFrame

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&dyn Reflect>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value.

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

Returns a “partial equality” comparison result.

fn debug(&self, f: &mut Formatter<'_>) -> Result

Debug formatter for the value.

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn to_dynamic(&self) -> Box<dyn PartialReflect>

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_clone_and_take<T>(&self) -> Result<T, ReflectCloneError>

where T: 'static, Self: Sized + TypePath,

For a type implementing PartialReflect, combines reflect_clone and take in a useful fashion, automatically constructing an appropriate ReflectCloneError if the downcast fails.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for JointFrame

fn into_any(self: Box<Self>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl Struct for JointFrame

fn field(&self, name: &str) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field named name as a &dyn PartialReflect.

fn field_mut(&mut self, name: &str) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

fn field_at(&self, index: usize) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field with index index as a &dyn PartialReflect.

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn to_dynamic_struct(&self) -> DynamicStruct

Creates a new DynamicStruct from this struct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl TypePath for JointFrame

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for JointFrame

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for JointFrame

impl StructuralPartialEq for JointFrame