Struct RevoluteJoint

pub struct RevoluteJoint {

    pub entity1: Entity,
    pub entity2: Entity,
    pub local_anchor1: Vector,
    pub local_anchor2: Vector,
    pub aligned_axis: Vector,
    pub angle_limit: Option<AngleLimit>,
    pub damping_linear: Scalar,
    pub damping_angular: Scalar,
    pub position_lagrange: Scalar,
    pub align_lagrange: Scalar,
    pub angle_limit_lagrange: Scalar,
    pub compliance: Scalar,
    pub force: Vector,
    pub align_torque: Vector,
    pub angle_limit_torque: Vector,
}

A revolute joint prevents relative movement of the attached bodies, except for rotation around one aligned_axis.

Revolute joints can be useful for things like wheels, fans, revolving doors etc.

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.

aligned_axis: Vector

A unit vector that controls which axis should be aligned for both bodies.

angle_limit: Option<AngleLimit>

The extents of the allowed relative rotation of the bodies around the aligned_axis.

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.

angle_limit_lagrange: Scalar

Lagrange multiplier for the angular correction caused by the angle limits.

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.

angle_limit_torque: Vector

The torque exerted by the joint when limiting the relative rotation of the bodies around the aligned_axis.

Implementations

impl RevoluteJoint

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

Sets the axis that the bodies should be aligned on.

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

Sets the limits of the allowed relative rotation around the aligned_axis.

Trait Implementations

impl AngularConstraint for RevoluteJoint

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.

fn apply_angular_impulse( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, impulse: Vector, ) -> Vector

Applies an angular impulse to two bodies.

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.

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.

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.

fn get_delta_rot(inverse_inertia: Matrix3, p: Vector) -> Quaternion

Computes the update in rotation when applying an angular correction p.

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

impl Clone for RevoluteJoint

fn clone(&self) -> RevoluteJoint

Returns a copy 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, components: &mut ComponentsRegistrator<'_>, required_components: &mut RequiredComponents, inheritance_depth: u16, recursion_check_stack: &mut Vec<ComponentId>, )

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 register_component_hooks(hooks: &mut ComponentHooks)

👎Deprecated since 0.16.0: Use the individual hook methods instead (e.g., Component::on_add, etc.)

Called when registering this component, allowing mutable access to its ComponentHooks.

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 FromReflect for RevoluteJoint

where RevoluteJoint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

where RevoluteJoint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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 Joint for RevoluteJoint

fn new(entity1: Entity, entity2: Entity) -> Self

Creates a new joint between two entities.

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

Sets the joint’s compliance (inverse of stiffness, meters / Newton).

fn with_local_anchor_1(self, anchor: Vector) -> Self

Sets the attachment point on the first body.

fn with_local_anchor_2(self, anchor: Vector) -> Self

Sets the attachment point on the second body.

fn with_linear_velocity_damping(self, damping: Scalar) -> Self

Sets the linear velocity damping caused by the joint.

fn with_angular_velocity_damping(self, damping: Scalar) -> Self

Sets the angular velocity damping caused by the joint.

fn local_anchor_1(&self) -> Vector

Returns the local attachment point on the first body.

fn local_anchor_2(&self) -> Vector

Returns the local attachment point on the second body.

fn damping_linear(&self) -> Scalar

Returns the linear velocity damping of the joint.

fn damping_angular(&self) -> Scalar

Returns the angular velocity damping of the joint.

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.

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

where RevoluteJoint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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 clone_value(&self) -> Box<dyn PartialReflect>

👎Deprecated since 0.16.0: to clone reflected values, prefer using reflect_clone. To convert reflected values to dynamic ones, use to_dynamic.

Clones Self into its dynamic representation.

fn to_dynamic(&self) -> Box<dyn PartialReflect>

Converts this reflected value into its dynamic representation based on its kind.

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 PositionConstraint for RevoluteJoint

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.

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.

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.

fn get_delta_rot(inverse_inertia: Matrix3, r: Vector, p: Vector) -> Quaternion

Computes the update in rotation when applying a positional correction p at point r.

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

impl Reflect for RevoluteJoint

where RevoluteJoint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

where RevoluteJoint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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

fn clone_dynamic(&self) -> DynamicStruct

👎Deprecated since 0.16.0: use to_dynamic_struct instead

Clones the struct into a DynamicStruct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl TypePath for RevoluteJoint

where RevoluteJoint: Any + Send + Sync,

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

where RevoluteJoint: Any + Send + Sync, Entity: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Vector: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + MaybeTyped + RegisterForReflection, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl XpbdConstraint<2> for RevoluteJoint

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

The entities participating in the constraint.

fn clear_lagrange_multipliers(&mut self)

Sets the constraint’s Lagrange multipliers to 0.

fn solve(&mut self, bodies: [&mut RigidBodyQueryItem<'_>; 2], dt: Scalar)

Solves the constraint.

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.

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.

impl Copy for RevoluteJoint

impl StructuralPartialEq for RevoluteJoint