Struct RevoluteJoint

pub struct RevoluteJoint {
    pub body1: Entity,
    pub body2: Entity,
    pub frame1: JointFrame,
    pub frame2: JointFrame,
    pub hinge_axis: Vector,
    pub angle_limit: Option<AngleLimit>,
    pub point_compliance: Scalar,
    pub align_compliance: Scalar,
    pub limit_compliance: Scalar,
}

A revolute joint or hinge prevents any relative movement between two bodies, except for rotation about the hinge_axis at a pivot point defined by the joint anchor.

This can be useful for things like wheels, fans, doors, and other rotating mechanisms.

Each revolute joint is defined by a JointFrame on each body, a hinge_axis about which the bodies can rotate, and an optional AngleLimit that defines the extents of the allowed rotation. The joint aims to keep the anchor point of each frame aligned, while allowing rotation about the hinge axis at the anchor point.

Fields

body1: Entity

The first body constrained by the joint.

body2: Entity

The second body constrained by the joint.

frame1: JointFrame

The reference frame of the first body, defining the joint anchor and basis relative to the body transform.

frame2: JointFrame

The reference frame of the second body, defining the joint anchor and basis relative to the body transform.

hinge_axis: Vector

The local axis about which the bodies can rotate relative to each other.

By default, this is the z-axis.

angle_limit: Option<AngleLimit>

The extents of the allowed relative rotation of the bodies.

point_compliance: Scalar

The compliance of the point-to-point constraint (inverse of stiffness, m / N).

align_compliance: Scalar

The compliance used for aligning the bodies along the hinge_axis (inverse of stiffness, N * m / rad).

limit_compliance: Scalar

The compliance of the angle limit (inverse of stiffness, N * m / rad).

Implementations

impl RevoluteJoint

pub const DEFAULT_HINGE_AXIS: Vector = Vector::Z

The default hinge_axis for a revolute joint.

pub const fn new(body1: Entity, body2: Entity) -> Self

Creates a new RevoluteJoint between two entities.

pub const fn with_hinge_axis(self, axis: Vector) -> Self

Sets the hinge_axis about which the bodies can rotate relative to each other.

The axis should be a unit vector. By default, this is the z-axis.

pub const fn with_aligned_axis(self, axis: Vector) -> Self

👎Deprecated since 0.4.0: Use with_hinge_axis instead.

Sets the hinge_axis about which the bodies can rotate relative to each other.

The axis should be a unit vector. By default, this is the x-axis.

This method is deprecated in favor of with_hinge_axis.

pub fn with_local_frame1(self, frame: impl Into<Isometry3d>) -> Self

Sets the local JointFrame of the first body, configuring both the JointAnchor and JointBasis.

pub fn with_local_frame2(self, frame: impl Into<Isometry3d>) -> Self

Sets the local JointFrame of the second body, configuring both the JointAnchor and JointBasis.

pub const fn with_anchor(self, anchor: Vector) -> Self

Sets the global anchor point on both bodies.

This configures the JointAnchor of each JointFrame.

pub const fn with_local_anchor1(self, anchor: Vector) -> Self

Sets the local anchor point on the first body.

This configures the JointAnchor of the first JointFrame.

pub const fn with_local_anchor2(self, anchor: Vector) -> Self

Sets the local anchor point on the second body.

This configures the JointAnchor of the second JointFrame.

pub fn with_basis(self, basis: impl Into<Quaternion>) -> Self

Sets the global basis for both bodies.

This configures the JointBasis of each JointFrame.

pub fn with_local_basis1(self, basis: impl Into<Quaternion>) -> Self

Sets the local basis for the first body.

This configures the JointBasis of the first JointFrame.

pub fn with_local_basis2(self, basis: impl Into<Quaternion>) -> Self

Sets the local basis for the second body.

This configures the JointBasis of the second JointFrame.

pub fn local_frame1(&self) -> Option<Isometry3d>

Returns the local JointFrame of the first body.

If the JointAnchor is set to FromGlobal, and the local anchor has not yet been computed, or the JointBasis is set to FromGlobal, and the local basis has not yet been computed, this will return None.

pub fn local_frame2(&self) -> Option<Isometry3d>

Returns the local JointFrame of the second body.

If the JointAnchor is set to FromGlobal, and the local anchor has not yet been computed, or the JointBasis is set to FromGlobal, and the local basis has not yet been computed, this will return None.

pub const fn local_anchor1(&self) -> Option<Vector>

Returns the local anchor point on the first body.

If the JointAnchor is set to FromGlobal, and the local anchor has not yet been computed, this will return None.

pub const fn local_anchor2(&self) -> Option<Vector>

Returns the local anchor point on the second body.

If the JointAnchor is set to FromGlobal, and the local anchor has not yet been computed, this will return None.

pub fn local_basis1(&self) -> Option<Quaternion>

Returns the local basis of the first body.

If the JointBasis is set to FromGlobal, and the local basis has not yet been computed, this will return None.

pub fn local_basis2(&self) -> Option<Quaternion>

Returns the local basis of the second body.

If the JointBasis is set to FromGlobal, and the local basis has not yet been computed, this will return None.

pub fn local_hinge_axis1(&self) -> Option<Vector>

Returns the local hinge axis of the first body.

This is equivalent to rotating the hinge_axis by the local basis of frame1.

If the JointBasis is set to FromGlobal, and the local basis has not yet been computed, this will return None.

pub fn local_hinge_axis2(&self) -> Option<Vector>

Returns the local hinge axis of the second body.

This is equivalent to rotating the hinge_axis by the local basis of frame2.

If the JointBasis is set to FromGlobal, and the local basis has not yet been computed, this will return None.

pub const fn with_angle_limits(self, min: Scalar, max: Scalar) -> Self

Sets the limits of the allowed relative rotation.

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

👎Deprecated since 0.4.0: Use with_point_compliance, with_align_compliance, and with_limit_compliance instead.

Sets the joint’s compliance (inverse of stiffness, m / N).

pub const fn with_point_compliance(self, compliance: Scalar) -> Self

Sets the compliance of the point-to-point constraint (inverse of stiffness, m / N).

pub const fn with_align_compliance(self, compliance: Scalar) -> Self

Sets the compliance of the axis alignment constraint (inverse of stiffness, N * m / rad).

pub const fn with_limit_compliance(self, compliance: Scalar) -> Self

Sets the compliance of the angle limit (inverse of stiffness, N * m / rad).

Trait Implementations

impl Clone for RevoluteJoint

fn clone(&self) -> RevoluteJoint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Component for RevoluteJoint

where Self: Send + Sync + 'static,

const STORAGE_TYPE: StorageType = ::bevy::ecs::component::StorageType::Table

A constant indicating the storage type used for this component.

type Mutability = Mutable

A marker type to assist Bevy with determining if this component is mutable, or immutable. Mutable components will have [Component<Mutability = Mutable>], while immutable components will instead have [Component<Mutability = Immutable>].

fn register_required_components( _requiree: ComponentId, required_components: &mut RequiredComponentsRegistrator<'_, '_>, )

Registers required components.

fn clone_behavior() -> ComponentCloneBehavior

Called when registering this component, allowing to override clone function (or disable cloning altogether) for this component.

fn on_add() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_add ComponentHook for this Component if one is defined.

fn on_insert() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_insert ComponentHook for this Component if one is defined.

fn on_replace() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_replace ComponentHook for this Component if one is defined.

fn on_remove() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_remove ComponentHook for this Component if one is defined.

fn on_despawn() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_despawn ComponentHook for this Component if one is defined.

fn map_entities<E>(_this: &mut Self, _mapper: &mut E)

where E: EntityMapper,

Maps the entities on this component using the given EntityMapper. This is used to remap entities in contexts like scenes and entity cloning. When deriving Component, this is populated by annotating fields containing entities with #[entities]

impl Debug for RevoluteJoint

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

Formats the value using the given formatter.

impl DebugRenderConstraint<2> for RevoluteJoint

type Context = ()

A SystemParam type for any additional ECS access required for rendering the constraint.

fn debug_render( &self, positions: [Vector; 2], rotations: [Rotation; 2], _context: &mut Self::Context, gizmos: &mut Gizmos<'_, '_, PhysicsGizmos>, config: &PhysicsGizmos, )

Renders the debug information for the constraint.

impl EntityConstraint<2> for RevoluteJoint

fn entities(&self) -> [Entity; 2]

The entities participating in the constraint.

impl FromReflect for RevoluteJoint

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 RevoluteJoint

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 MapEntities for RevoluteJoint

fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M)

Updates all Entity references stored inside using entity_mapper.

impl PartialEq for RevoluteJoint

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

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 RevoluteJoint

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 RevoluteJoint

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 RevoluteJoint

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 RevoluteJoint

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl StructuralPartialEq for RevoluteJoint