Enum JointBasis

pub enum JointBasis {
    Local(Quaternion),
    FromGlobal(Quaternion),
}

The rotation of a JointFrame, defining the basis of the joint frame relative to the body transform.

Each joint basis is stored in local space relative to the transform of the body it is attached to. This way, the initial configuration of the joint is preserved even when the body is moved.

The initial basis can also be specified in world space using JointBasis::FromGlobal, but it is automatically converted to JointBasis::Local during the next simulation step.

By default, a local identity basis is used, and the basis aligns with the body transform.

Variants

Local(Quaternion)

The basis is specified in local space relative to the body transform.

FromGlobal(Quaternion)

The basis is specified in world space.

Implementations

impl JointBasis

pub const IDENTITY: Self

The identity basis.

This represents a basis that aligns with the body transform.

pub fn from_local_xy(x_axis: Vector, y_axis: Vector) -> Self

Creates a JointBasis::Local from the given local x_axis and y_axis.

The z-axis is computed as the cross product of the x and y axes.

pub fn from_local_xz(x_axis: Vector, z_axis: Vector) -> Self

Creates a JointBasis::Local from the given local x_axis and z_axis.

The y-axis is computed as the cross product of the z and x axes.

pub fn from_local_yz(y_axis: Vector, z_axis: Vector) -> Self

Creates a JointBasis::Local from the given local y_axis and z_axis.

The x-axis is computed as the cross product of the y and z axes.

pub fn from_global_xy(x_axis: Vector, y_axis: Vector) -> Self

Creates a JointBasis::FromGlobal from the given global x_axis and y_axis.

The z-axis is computed as the cross product of the x and y axes.

pub fn from_global_xz(x_axis: Vector, z_axis: Vector) -> Self

Creates a JointBasis::FromGlobal from the given global x_axis and z_axis.

The y-axis is computed as the cross product of the z and x axes.

pub fn from_global_yz(y_axis: Vector, z_axis: Vector) -> Self

Creates a JointBasis::FromGlobal from the given global y_axis and z_axis.

The x-axis is computed as the cross product of the y and z axes.

pub fn compute_local( rotation1: Self, rotation2: Self, rot1: &Quaternion, rot2: &Quaternion, ) -> [Self; 2]

Computes a JointBasis::Local for the given JointBasiss corresponding to the transforms of two bodies constrained by a joint.

Trait Implementations

impl Clone for JointBasis

fn clone(&self) -> JointBasis

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JointBasis

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

Formats the value using the given formatter.

impl Default for JointBasis

fn default() -> Self

Returns the “default value” for a type.

impl Enum for JointBasis

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

Returns a reference to the value of the field (in the current variant) with the given name.

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

Returns a reference to the value of the field (in the current variant) at the given index.

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

Returns a mutable reference to the value of the field (in the current variant) with the given name.

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

Returns a mutable reference to the value of the field (in the current variant) at the given index.

fn index_of(&self, __name_param: &str) -> Option<usize>

Returns the index of the field (in the current variant) with the given name.

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

Returns the name of the field (in the current variant) with the given index.

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

Returns an iterator over the values of the current variant’s fields.

fn field_len(&self) -> usize

Returns the number of fields in the current variant.

fn variant_name(&self) -> &str

The name of the current variant.

fn variant_index(&self) -> usize

The index of the current variant.

fn variant_type(&self) -> VariantType

The type of the current variant.

fn to_dynamic_enum(&self) -> DynamicEnum

Creates a new DynamicEnum from this enum.

fn is_variant(&self, variant_type: VariantType) -> bool

Returns true if the current variant’s type matches the given one.

fn variant_path(&self) -> String

Returns the full path to the current variant.

fn get_represented_enum_info(&self) -> Option<&'static EnumInfo>

Will return None if TypeInfo is not available.

impl From<JointBasis> for JointFrame

fn from(basis: JointBasis) -> Self

Converts to this type from the input type.

impl FromReflect for JointBasis

fn from_reflect(__param0: &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 JointBasis

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 JointBasis

fn eq(&self, other: &JointBasis) -> 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 JointBasis

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_param: &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_hash(&self) -> Option<u64>

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

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 is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for JointBasis

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 TypePath for JointBasis

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 JointBasis

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for JointBasis

impl StructuralPartialEq for JointBasis