avian2d::dynamics::solver::joints

Trait Joint

Source 
pub trait Joint:
    Component
    + PositionConstraint
    + AngularConstraint {
    // Required methods
    fn new(entity1: Entity, entity2: Entity) -> Self;
    fn with_compliance(self, compliance: Scalar) -> Self;
    fn with_local_anchor_1(self, anchor: Vector) -> Self;
    fn with_local_anchor_2(self, anchor: Vector) -> Self;
    fn with_linear_velocity_damping(self, damping: Scalar) -> Self;
    fn with_angular_velocity_damping(self, damping: Scalar) -> Self;
    fn local_anchor_1(&self) -> Vector;
    fn local_anchor_2(&self) -> Vector;
    fn damping_linear(&self) -> Scalar;
    fn damping_angular(&self) -> Scalar;

    // Provided method
    fn align_position(
        &self,
        body1: &mut RigidBodyQueryItem<'_>,
        body2: &mut RigidBodyQueryItem<'_>,
        r1: Vector,
        r2: Vector,
        lagrange: &mut Scalar,
        compliance: Scalar,
        dt: Scalar,
    ) -> Vector { ... }
}
Expand description

A trait for joints.

Required Methods§

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fn new(entity1: Entity, entity2: Entity) -> Self

Creates a new joint between two entities.

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fn with_compliance(self, compliance: Scalar) -> Self

Sets the joint’s compliance (inverse of stiffness, meters / Newton).

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fn with_local_anchor_1(self, anchor: Vector) -> Self

Sets the attachment point on the first body.

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fn with_local_anchor_2(self, anchor: Vector) -> Self

Sets the attachment point on the second body.

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fn with_linear_velocity_damping(self, damping: Scalar) -> Self

Sets the linear velocity damping caused by the joint.

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fn with_angular_velocity_damping(self, damping: Scalar) -> Self

Sets the angular velocity damping caused by the joint.

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fn local_anchor_1(&self) -> Vector

Returns the local attachment point on the first body.

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fn local_anchor_2(&self) -> Vector

Returns the local attachment point on the second body.

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fn damping_linear(&self) -> Scalar

Returns the linear velocity damping of the joint.

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fn damping_angular(&self) -> Scalar

Returns the angular velocity damping of the joint.

Provided Methods§

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fn align_position( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, r1: Vector, r2: Vector, lagrange: &mut Scalar, compliance: Scalar, dt: Scalar, ) -> Vector

Applies a positional correction that aligns the positions of the local attachment points r1 and r2.

Returns the force exerted by the alignment.

Dyn Compatibility§

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors§