Struct avian3d::dynamics::solver::joints::SphericalJoint

pub struct SphericalJoint {

    pub entity1: Entity,
    pub entity2: Entity,
    pub local_anchor1: Vector,
    pub local_anchor2: Vector,
    pub swing_axis: Vector3,
    pub twist_axis: Vector3,
    pub swing_limit: Option<AngleLimit>,
    pub twist_limit: Option<AngleLimit>,
    pub damping_linear: Scalar,
    pub damping_angular: Scalar,
    pub position_lagrange: Scalar,
    pub swing_lagrange: Scalar,
    pub twist_lagrange: Scalar,
    pub compliance: Scalar,
    pub force: Vector,
    pub swing_torque: Vector,
    pub twist_torque: Vector,
}

A spherical joint prevents relative translation of the attached bodies while allowing rotation around all axes.

Spherical joints can be useful for things like pendula, chains, ragdolls 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.

swing_axis: Vector3

An axis that the attached bodies can swing around. This is normally the x-axis.

twist_axis: Vector3

An axis that the attached bodies can twist around. This is normally the y-axis.

swing_limit: Option<AngleLimit>

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

twist_limit: Option<AngleLimit>

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

swing_lagrange: Scalar

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

twist_lagrange: Scalar

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

compliance: Scalar

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

force: Vector

The force exerted by the joint.

swing_torque: Vector

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

twist_torque: Vector

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

Implementations

impl SphericalJoint

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

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

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

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

Trait Implementations

impl AngularConstraint for SphericalJoint

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( rot: Rotation, 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 SphericalJoint

fn clone(&self) -> SphericalJoint

Returns a copy 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.

fn register_component_hooks(_hooks: &mut ComponentHooks)

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

impl Debug for SphericalJoint

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

Formats the value using the given formatter.

impl FromReflect for SphericalJoint

where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Vector3: FromReflect + TypePath + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Constructs a concrete instance of Self from a reflected value.

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.

impl GetTypeRegistration for SphericalJoint

where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Vector3: FromReflect + TypePath + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + 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 SphericalJoint

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 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

This method tests for self and other values to be equal, and is used by ==.

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.

impl PositionConstraint for SphericalJoint

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( rot: Rotation, 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 SphericalJoint

where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Vector3: FromReflect + TypePath + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value.

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 reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable reflected value.

fn clone_value(&self) -> Box<dyn Reflect>

Clones the value as a Reflect trait object.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

fn try_apply(&mut self, value: &dyn Reflect) -> 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 reflect_partial_eq(&self, value: &dyn Reflect) -> Option<bool>

Returns a “partial equality” comparison result.

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

Debug formatter for the value.

fn apply(&mut self, value: &(dyn Reflect + 'static))

Applies a reflected value to this value.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Struct for SphericalJoint

where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Vector3: FromReflect + TypePath + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Returns a reference to the value of the field named name as a &dyn Reflect.

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.

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.

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.

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 clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.

impl TypePath for SphericalJoint

where Self: 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 SphericalJoint

where Self: Any + Send + Sync, Entity: FromReflect + TypePath + RegisterForReflection, Vector: FromReflect + TypePath + RegisterForReflection, Vector3: FromReflect + TypePath + RegisterForReflection, Option<AngleLimit>: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl XpbdConstraint<2> for SphericalJoint

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 SphericalJoint

impl StructuralPartialEq for SphericalJoint