pub struct RevoluteJoint {Show 15 fields
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,
}
Expand description
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§
source§impl RevoluteJoint
impl RevoluteJoint
sourcepub fn with_aligned_axis(self, axis: Vector) -> Self
pub fn with_aligned_axis(self, axis: Vector) -> Self
Sets the axis that the bodies should be aligned on.
sourcepub fn with_angle_limits(self, min: Scalar, max: Scalar) -> Self
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§
source§impl AngularConstraint for RevoluteJoint
impl AngularConstraint for RevoluteJoint
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 RevoluteJoint
impl Clone for RevoluteJoint
source§fn clone(&self) -> RevoluteJoint
fn clone(&self) -> RevoluteJoint
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read moresource§impl Component for RevoluteJoint
impl Component for RevoluteJoint
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 RevoluteJoint
impl Debug for RevoluteJoint
source§impl FromReflect for RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl FromReflect for RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: 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 RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl GetTypeRegistration for RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: 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 RevoluteJoint
impl Joint for RevoluteJoint
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 RevoluteJoint
impl MapEntities for RevoluteJoint
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 RevoluteJoint
impl PartialEq for RevoluteJoint
source§fn eq(&self, other: &RevoluteJoint) -> bool
fn eq(&self, other: &RevoluteJoint) -> bool
self
and other
values to be equal, and is used
by ==
.source§impl PositionConstraint for RevoluteJoint
impl PositionConstraint for RevoluteJoint
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 RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl Reflect for RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: 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
source§fn reflect_partial_eq(&self, value: &dyn Reflect) -> Option<bool>
fn reflect_partial_eq(&self, value: &dyn Reflect) -> Option<bool>
source§fn apply(&mut self, value: &(dyn Reflect + 'static))
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 RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl Struct for RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: 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 RevoluteJoint
impl TypePath for RevoluteJoint
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 RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
impl Typed for RevoluteJointwhere
Self: Any + Send + Sync,
Entity: FromReflect + TypePath + RegisterForReflection,
Vector: FromReflect + TypePath + RegisterForReflection,
Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection,
Scalar: FromReflect + TypePath + RegisterForReflection,
source§impl XpbdConstraint<2> for RevoluteJoint
impl XpbdConstraint<2> for RevoluteJoint
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 RevoluteJoint
impl StructuralPartialEq for RevoluteJoint
Auto Trait Implementations§
impl Freeze for RevoluteJoint
impl RefUnwindSafe for RevoluteJoint
impl Send for RevoluteJoint
impl Sync for RevoluteJoint
impl Unpin for RevoluteJoint
impl UnwindSafe for RevoluteJoint
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C: Component,
impl<C> Bundle for Cwhere
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components: &Components,
ids: &mut impl FnMut(Option<ComponentId>)
)
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