Struct SphericalJoint

pub struct SphericalJoint {
    pub body1: Entity,
    pub body2: Entity,
    pub frame1: JointFrame,
    pub frame2: JointFrame,
    pub twist_axis: Vector,
    pub swing_limit: Option<AngleLimit>,
    pub twist_limit: Option<AngleLimit>,
    pub point_compliance: Scalar,
    pub swing_compliance: Scalar,
    pub twist_compliance: Scalar,
}

A spherical joint prevents any relative translation between two bodies, while allowing limited rotation about all axes.

This is similar to the ball-and-socket joint in the human shoulder, and can be useful for things like ragdolls, robotic arms, pendula, chains, and other mechanisms where you need to allow free rotation around a point.

Each spherical joint is defined by a JointFrame on each body. The joint aims to keep the anchor point of each frame aligned, while allowing free rotation.

The relative rotation can optionally be limited to a circular cone defined by a twist_axis about which the bodies can twist, a twist_limit that defines the extents of the allowed twisting, and a swing_limit that defines the extents of the allowed swing as a half-angle.

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.

twist_axis: Vector

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

This is also the axis passing through the swing_limit cone, defining which axes the bodies can swing around.

By default, this is the y-axis.

swing_limit: Option<AngleLimit>

The extents of the allowed relative rotation of the bodies about a swing axis perpendicular to the twist_axis.

twist_limit: Option<AngleLimit>

The extents of the allowed relative rotation of the bodies about the twist_axis.

point_compliance: Scalar

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

swing_compliance: Scalar

The compliance for swing (inverse of stiffness, N * m / rad).

twist_compliance: Scalar

The compliance for twist (inverse of stiffness, N * m / rad).

Implementations

impl SphericalJoint

pub const DEFAULT_TWIST_AXIS: Vector = Vector::Y

The default twist_axis for a spherical joint.

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

Creates a new SphericalJoint between two entities.

pub const fn with_twist_axis(self, twist_axis: Vector) -> Self

Sets the twist_axis about which the bodies can twist relative to each other.

This is also the axis passing through the swing_limit cone, defining which axes the bodies can swing around.

By default, this is the y-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 const 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 const 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_twist_axis1(&self) -> Option<Vector>

Returns the local twist axis of the first body.

This is equivalent to rotating the twist_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_twist_axis2(&self) -> Option<Vector>

Returns the local twist axis of the second body.

This is equivalent to rotating the twist_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_swing_limits(self, min: Scalar, max: Scalar) -> Self

Sets the limits of the allowed relative rotation about a swing axis perpendicular to the twist_axis.

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

Sets the limits of the allowed relative rotation about the twist_axis.

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

👎Deprecated since 0.4.0: Use with_point_compliance, with_swing_compliance, and with_twist_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 axis alignment constraint (inverse of stiffness, m / N).

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

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

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

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

Trait Implementations

impl Clone for SphericalJoint

fn clone(&self) -> SphericalJoint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Component for SphericalJoint

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 SphericalJoint

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

Formats the value using the given formatter.

impl DebugRenderConstraint<2> for SphericalJoint

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 SphericalJoint

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

The entities participating in the constraint.

impl FromReflect for SphericalJoint

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 SphericalJoint

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 SphericalJoint

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

Updates all Entity references stored inside using entity_mapper.

impl PartialEq for SphericalJoint

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

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 SphericalJoint

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 SphericalJoint

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 SphericalJoint

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 SphericalJoint

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl StructuralPartialEq for SphericalJoint