Struct avian3d::dynamics::solver::joints::FixedJoint

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pub struct FixedJoint {
    pub entity1: Entity,
    pub entity2: Entity,
    pub local_anchor1: Vector,
    pub local_anchor2: Vector,
    pub damping_linear: Scalar,
    pub damping_angular: Scalar,
    pub position_lagrange: Scalar,
    pub align_lagrange: Scalar,
    pub compliance: Scalar,
    pub force: Vector,
    pub align_torque: Vector,
}
Expand description

A fixed joint prevents any relative movement of the attached bodies.

You should generally prefer using a single body instead of multiple bodies fixed together, but fixed joints can be useful for things like rigid structures where a force can dynamically break the joints connecting individual bodies.

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§entity1: Entity

First entity constrained by the joint.

§entity2: Entity

Second entity constrained by the joint.

§local_anchor1: Vector

Attachment point on the first body.

§local_anchor2: Vector

Attachment point on the second body.

§damping_linear: Scalar

Linear damping applied by the joint.

§damping_angular: Scalar

Angular damping applied by the joint.

§position_lagrange: Scalar

Lagrange multiplier for the positional correction.

§align_lagrange: Scalar

Lagrange multiplier for the angular correction caused by the alignment of the bodies.

§compliance: Scalar

The joint’s compliance, the inverse of stiffness, has the unit meters / Newton.

§force: Vector

The force exerted by the joint.

§align_torque: Vector

The torque exerted by the joint when aligning the bodies.

Trait Implementations§

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impl AngularConstraint for FixedJoint

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fn apply_angular_lagrange_update( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, axis: Vector ) -> Vector

Applies an angular correction to two bodies. Read more
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fn apply_angular_impulse( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, impulse: Vector ) -> Vector

Applies an angular impulse to two bodies. Read more
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fn align_orientation( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, rotation_difference: Vector, lagrange: &mut Scalar, compliance: Scalar, dt: Scalar ) -> Vector

Applies an angular correction that aligns the orientation of the bodies. Read more
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fn apply_angular_correction( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, axis: Vector ) -> Vector

Applies angular constraints for interactions between two bodies. Read more
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fn compute_generalized_inverse_mass( &self, body: &RigidBodyQueryItem<'_>, axis: Vector ) -> Scalar

Computes the generalized inverse mass of a body when applying an angular correction around axis.
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fn get_delta_rot( rot: Rotation, inverse_inertia: Matrix3, p: Vector ) -> Quaternion

Computes the update in rotation when applying an angular correction p.
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fn compute_torque(&self, lagrange: Scalar, axis: Vector, dt: Scalar) -> Vector

Computes the torque acting along the constraint using the equation tau = lambda * n / h^2
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impl Clone for FixedJoint

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fn clone(&self) -> FixedJoint

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Component for FixedJoint
where Self: Send + Sync + 'static,

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

A constant indicating the storage type used for this component.
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fn register_component_hooks(_hooks: &mut ComponentHooks)

Called when registering this component, allowing mutable access to its ComponentHooks.
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impl Debug for FixedJoint

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

Formats the value using the given formatter. Read more
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impl FromReflect for FixedJoint
where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Constructs a concrete instance of Self from a reflected value.
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fn take_from_reflect( reflect: Box<dyn Reflect> ) -> Result<Self, Box<dyn Reflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails. Read more
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impl GetTypeRegistration for FixedJoint
where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.
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fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type. Read more
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impl Joint for FixedJoint

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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.
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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. Read more
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impl MapEntities for FixedJoint

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

Updates all Entity references stored inside using entity_mapper. Read more
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impl PartialEq for FixedJoint

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

This method tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl PositionConstraint for FixedJoint

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fn apply_positional_lagrange_update( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, direction: Vector, r1: Vector, r2: Vector ) -> Vector

Applies a positional correction to two bodies. Read more
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fn apply_positional_impulse( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, impulse: Vector, r1: Vector, r2: Vector ) -> Vector

Applies a positional impulse to two bodies. Read more
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fn compute_generalized_inverse_mass( &self, body: &RigidBodyQueryItem<'_>, r: Vector, n: Vector ) -> Scalar

Computes the generalized inverse mass of a body when applying a positional correction at point r along the vector n.
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fn get_delta_rot( rot: Rotation, inverse_inertia: Matrix3, r: Vector, p: Vector ) -> Quaternion

Computes the update in rotation when applying a positional correction p at point r.
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fn compute_force( &self, lagrange: Scalar, direction: Vector, dt: Scalar ) -> Vector

Computes the force acting along the constraint using the equation f = lambda * n / h^2
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impl Reflect for FixedJoint
where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value. Read more
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fn into_any(self: Box<Self>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.
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fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.
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fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.
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fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed reflected value.
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fn as_reflect(&self) -> &dyn Reflect

Casts this type to a reflected value.
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fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable reflected value.
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fn clone_value(&self) -> Box<dyn Reflect>

Clones the value as a Reflect trait object. Read more
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fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value. Read more
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fn try_apply(&mut self, value: &dyn Reflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value. Read more
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fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type. Read more
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fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type. Read more
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fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type. Read more
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fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type. Read more
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fn reflect_partial_eq(&self, value: &dyn Reflect) -> Option<bool>

Returns a “partial equality” comparison result. Read more
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fn debug(&self, f: &mut Formatter<'_>) -> Result

Debug formatter for the value. Read more
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fn apply(&mut self, value: &(dyn Reflect + 'static))

Applies a reflected value to this value. Read more
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fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type). Read more
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fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value. Read more
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fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type. Read more
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impl Struct for FixedJoint
where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Returns a reference to the value of the field named name as a &dyn Reflect.
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fn field_mut(&mut self, name: &str) -> Option<&mut dyn Reflect>

Returns a mutable reference to the value of the field named name as a &mut dyn Reflect.
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fn field_at(&self, index: usize) -> Option<&dyn Reflect>

Returns a reference to the value of the field with index index as a &dyn Reflect.
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fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn Reflect>

Returns a mutable reference to the value of the field with index index as a &mut dyn Reflect.
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fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.
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fn field_len(&self) -> usize

Returns the number of fields in the struct.
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fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.
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fn clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.
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impl TypePath for FixedJoint
where Self: Any + Send + Sync,

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fn type_path() -> &'static str

Returns the fully qualified path of the underlying type. Read more
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fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type. Read more
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fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous. Read more
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fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous. Read more
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fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous. Read more
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impl Typed for FixedJoint
where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.
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impl XpbdConstraint<2> for FixedJoint

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

The entities participating in the constraint.
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fn clear_lagrange_multipliers(&mut self)

Sets the constraint’s Lagrange multipliers to 0.
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fn solve(&mut self, bodies: [&mut RigidBodyQueryItem<'_>; 2], dt: Scalar)

Solves the constraint. Read more
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fn compute_lagrange_update_with_gradients( &self, lagrange: Scalar, c: Scalar, gradients: &[Vector], inverse_masses: &[Scalar], compliance: Scalar, dt: Scalar ) -> Scalar

Computes how much a constraint’s Lagrange multiplier changes when projecting the constraint for all participating particles. Read more
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fn compute_lagrange_update( &self, lagrange: Scalar, c: Scalar, inverse_masses: &[Scalar], compliance: Scalar, dt: Scalar ) -> Scalar

Computes how much a constraint’s Lagrange multiplier changes when projecting the constraint for all participating particles. The constraint gradients are assumed to be unit-length. Read more
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impl Copy for FixedJoint

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impl StructuralPartialEq for FixedJoint

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