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.
Fields§
§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§
source§impl AngularConstraint for FixedJoint
impl AngularConstraint for FixedJoint
source§fn apply_angular_lagrange_update(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
delta_lagrange: Scalar,
axis: Vector
) -> Vector
fn apply_angular_lagrange_update( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, axis: Vector ) -> Vector
source§fn apply_angular_impulse(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
impulse: Vector
) -> Vector
fn apply_angular_impulse( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, impulse: Vector ) -> Vector
source§fn align_orientation(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
rotation_difference: Vector,
lagrange: &mut Scalar,
compliance: Scalar,
dt: Scalar
) -> Vector
fn align_orientation( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, rotation_difference: Vector, lagrange: &mut Scalar, compliance: Scalar, dt: Scalar ) -> Vector
source§fn apply_angular_correction(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
delta_lagrange: Scalar,
axis: Vector
) -> Vector
fn apply_angular_correction( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, axis: Vector ) -> Vector
source§fn compute_generalized_inverse_mass(
&self,
body: &RigidBodyQueryItem<'_>,
axis: Vector
) -> Scalar
fn compute_generalized_inverse_mass( &self, body: &RigidBodyQueryItem<'_>, axis: Vector ) -> Scalar
axis
.source§fn get_delta_rot(
rot: Rotation,
inverse_inertia: Matrix3,
p: Vector
) -> Quaternion
fn get_delta_rot( rot: Rotation, inverse_inertia: Matrix3, p: Vector ) -> Quaternion
p
.source§impl Clone for FixedJoint
impl Clone for FixedJoint
source§fn clone(&self) -> FixedJoint
fn clone(&self) -> FixedJoint
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl Component for FixedJoint
impl Component for FixedJoint
source§const STORAGE_TYPE: StorageType = bevy::ecs::component::StorageType::Table
const STORAGE_TYPE: StorageType = bevy::ecs::component::StorageType::Table
source§fn register_component_hooks(_hooks: &mut ComponentHooks)
fn register_component_hooks(_hooks: &mut ComponentHooks)
ComponentHooks
.source§impl Debug for FixedJoint
impl Debug for FixedJoint
source§impl FromReflect for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl FromReflect for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
source§fn from_reflect(reflect: &dyn Reflect) -> Option<Self>
fn from_reflect(reflect: &dyn Reflect) -> Option<Self>
Self
from a reflected value.source§fn take_from_reflect(
reflect: Box<dyn Reflect>
) -> Result<Self, Box<dyn Reflect>>
fn take_from_reflect( reflect: Box<dyn Reflect> ) -> Result<Self, Box<dyn Reflect>>
Self
using,
constructing the value using from_reflect
if that fails. Read moresource§impl GetTypeRegistration for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl GetTypeRegistration for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
source§fn get_type_registration() -> TypeRegistration
fn get_type_registration() -> TypeRegistration
TypeRegistration
for this type.source§fn register_type_dependencies(registry: &mut TypeRegistry)
fn register_type_dependencies(registry: &mut TypeRegistry)
source§impl Joint for FixedJoint
impl Joint for FixedJoint
source§fn with_compliance(self, compliance: Scalar) -> Self
fn with_compliance(self, compliance: Scalar) -> Self
source§fn with_local_anchor_1(self, anchor: Vector) -> Self
fn with_local_anchor_1(self, anchor: Vector) -> Self
source§fn with_local_anchor_2(self, anchor: Vector) -> Self
fn with_local_anchor_2(self, anchor: Vector) -> Self
source§fn with_linear_velocity_damping(self, damping: Scalar) -> Self
fn with_linear_velocity_damping(self, damping: Scalar) -> Self
source§fn with_angular_velocity_damping(self, damping: Scalar) -> Self
fn with_angular_velocity_damping(self, damping: Scalar) -> Self
source§fn local_anchor_1(&self) -> Vector
fn local_anchor_1(&self) -> Vector
source§fn local_anchor_2(&self) -> Vector
fn local_anchor_2(&self) -> Vector
source§fn damping_linear(&self) -> Scalar
fn damping_linear(&self) -> Scalar
source§fn damping_angular(&self) -> Scalar
fn damping_angular(&self) -> Scalar
source§fn align_position(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
r1: Vector,
r2: Vector,
lagrange: &mut Scalar,
compliance: Scalar,
dt: Scalar
) -> Vector
fn align_position( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, r1: Vector, r2: Vector, lagrange: &mut Scalar, compliance: Scalar, dt: Scalar ) -> Vector
r1
and r2
. Read moresource§impl MapEntities for FixedJoint
impl MapEntities for FixedJoint
source§fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M)
fn map_entities<M: EntityMapper>(&mut self, entity_mapper: &mut M)
source§impl PartialEq for FixedJoint
impl PartialEq for FixedJoint
source§fn eq(&self, other: &FixedJoint) -> bool
fn eq(&self, other: &FixedJoint) -> bool
self
and other
values to be equal, and is used
by ==
.source§impl PositionConstraint for FixedJoint
impl PositionConstraint for FixedJoint
source§fn apply_positional_lagrange_update(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
delta_lagrange: Scalar,
direction: Vector,
r1: Vector,
r2: Vector
) -> Vector
fn apply_positional_lagrange_update( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, direction: Vector, r1: Vector, r2: Vector ) -> Vector
source§fn apply_positional_impulse(
&self,
body1: &mut RigidBodyQueryItem<'_>,
body2: &mut RigidBodyQueryItem<'_>,
impulse: Vector,
r1: Vector,
r2: Vector
) -> Vector
fn apply_positional_impulse( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, impulse: Vector, r1: Vector, r2: Vector ) -> Vector
source§fn compute_generalized_inverse_mass(
&self,
body: &RigidBodyQueryItem<'_>,
r: Vector,
n: Vector
) -> Scalar
fn compute_generalized_inverse_mass( &self, body: &RigidBodyQueryItem<'_>, r: Vector, n: Vector ) -> Scalar
r
along the vector n
.source§fn get_delta_rot(
rot: Rotation,
inverse_inertia: Matrix3,
r: Vector,
p: Vector
) -> Quaternion
fn get_delta_rot( rot: Rotation, inverse_inertia: Matrix3, r: Vector, p: Vector ) -> Quaternion
p
at point r
.source§impl Reflect for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl Reflect for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
source§fn get_represented_type_info(&self) -> Option<&'static TypeInfo>
fn get_represented_type_info(&self) -> Option<&'static TypeInfo>
source§fn as_any_mut(&mut self) -> &mut dyn Any
fn as_any_mut(&mut self) -> &mut dyn Any
&mut dyn Any
.source§fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>
fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>
source§fn as_reflect(&self) -> &dyn Reflect
fn as_reflect(&self) -> &dyn Reflect
source§fn as_reflect_mut(&mut self) -> &mut dyn Reflect
fn as_reflect_mut(&mut self) -> &mut dyn Reflect
source§fn clone_value(&self) -> Box<dyn Reflect>
fn clone_value(&self) -> Box<dyn Reflect>
Reflect
trait object. Read moresource§fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>
fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>
source§fn reflect_kind(&self) -> ReflectKind
fn reflect_kind(&self) -> ReflectKind
source§fn reflect_ref(&self) -> ReflectRef<'_>
fn reflect_ref(&self) -> ReflectRef<'_>
source§fn reflect_mut(&mut self) -> ReflectMut<'_>
fn reflect_mut(&mut self) -> ReflectMut<'_>
source§fn reflect_owned(self: Box<Self>) -> ReflectOwned
fn reflect_owned(self: Box<Self>) -> ReflectOwned
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fn reflect_partial_eq(&self, value: &dyn Reflect) -> Option<bool>
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fn apply(&mut self, value: &(dyn Reflect + 'static))
source§fn reflect_hash(&self) -> Option<u64>
fn reflect_hash(&self) -> Option<u64>
source§fn serializable(&self) -> Option<Serializable<'_>>
fn serializable(&self) -> Option<Serializable<'_>>
source§fn is_dynamic(&self) -> bool
fn is_dynamic(&self) -> bool
source§impl Struct for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl Struct for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
source§fn field(&self, name: &str) -> Option<&dyn Reflect>
fn field(&self, name: &str) -> Option<&dyn Reflect>
name
as a &dyn Reflect
.source§fn field_mut(&mut self, name: &str) -> Option<&mut dyn Reflect>
fn field_mut(&mut self, name: &str) -> Option<&mut dyn Reflect>
name
as a
&mut dyn Reflect
.source§fn field_at(&self, index: usize) -> Option<&dyn Reflect>
fn field_at(&self, index: usize) -> Option<&dyn Reflect>
index
as a
&dyn Reflect
.source§fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn Reflect>
fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn Reflect>
index
as a &mut dyn Reflect
.source§fn name_at(&self, index: usize) -> Option<&str>
fn name_at(&self, index: usize) -> Option<&str>
index
.source§fn iter_fields(&self) -> FieldIter<'_>
fn iter_fields(&self) -> FieldIter<'_>
source§fn clone_dynamic(&self) -> DynamicStruct
fn clone_dynamic(&self) -> DynamicStruct
DynamicStruct
.source§impl TypePath for FixedJoint
impl TypePath for FixedJoint
source§fn type_path() -> &'static str
fn type_path() -> &'static str
source§fn short_type_path() -> &'static str
fn short_type_path() -> &'static str
source§fn type_ident() -> Option<&'static str>
fn type_ident() -> Option<&'static str>
source§fn crate_name() -> Option<&'static str>
fn crate_name() -> Option<&'static str>
source§impl Typed for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl Typed for FixedJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
source§impl XpbdConstraint<2> for FixedJoint
impl XpbdConstraint<2> for FixedJoint
source§fn clear_lagrange_multipliers(&mut self)
fn clear_lagrange_multipliers(&mut self)
source§fn solve(&mut self, bodies: [&mut RigidBodyQueryItem<'_>; 2], dt: Scalar)
fn solve(&mut self, bodies: [&mut RigidBodyQueryItem<'_>; 2], dt: Scalar)
source§fn compute_lagrange_update_with_gradients(
&self,
lagrange: Scalar,
c: Scalar,
gradients: &[Vector],
inverse_masses: &[Scalar],
compliance: Scalar,
dt: Scalar
) -> Scalar
fn compute_lagrange_update_with_gradients( &self, lagrange: Scalar, c: Scalar, gradients: &[Vector], inverse_masses: &[Scalar], compliance: Scalar, dt: Scalar ) -> Scalar
source§fn compute_lagrange_update(
&self,
lagrange: Scalar,
c: Scalar,
inverse_masses: &[Scalar],
compliance: Scalar,
dt: Scalar
) -> Scalar
fn compute_lagrange_update( &self, lagrange: Scalar, c: Scalar, inverse_masses: &[Scalar], compliance: Scalar, dt: Scalar ) -> Scalar
impl Copy for FixedJoint
impl StructuralPartialEq for FixedJoint
Auto Trait Implementations§
impl Freeze for FixedJoint
impl RefUnwindSafe for FixedJoint
impl Send for FixedJoint
impl Sync for FixedJoint
impl Unpin for FixedJoint
impl UnwindSafe for FixedJoint
Blanket Implementations§
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impl<T, U> AsBindGroupShaderType<U> for T
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ShaderType
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. When used in AsBindGroup
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T: ?Sized,
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T: ?Sized,
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fn borrow_mut(&mut self) -> &mut T
source§impl<C> Bundle for Cwhere
C: Component,
impl<C> Bundle for Cwhere
C: Component,
fn component_ids( components: &mut Components, storages: &mut Storages, ids: &mut impl FnMut(ComponentId) )
unsafe fn from_components<T, F>(ctx: &mut T, func: &mut F) -> C
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components: &Components,
ids: &mut impl FnMut(Option<ComponentId>)
)
fn get_component_ids( components: &Components, ids: &mut impl FnMut(Option<ComponentId>) )
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