Struct GenericJoint

#[repr(transparent)]
pub struct GenericJoint {
    pub raw: GenericJoint,
}

The description of any joint.

Fields

raw: GenericJoint

The raw Rapier description of the joint.

Implementations

impl GenericJoint

pub fn into_rapier(self) -> RapierGenericJoint

Converts this joint into a Rapier joint.

impl GenericJoint

pub fn new(locked_axes: JointAxesMask) -> Self

Creates a new generic joint that locks the specified degrees of freedom.

pub fn locked_axes(&self) -> JointAxesMask

The set of axes locked by this joint.

pub fn lock_axes(&mut self, axes: JointAxesMask) -> &mut Self

Add the specified axes to the set of axes locked by this joint.

pub fn local_basis1(&self) -> Rot

The basis of this joint, expressed in the first rigid-body’s local-space.

pub fn set_local_basis1(&mut self, local_basis: Rot) -> &mut Self

Sets the joint’s frame, expressed in the first rigid-body’s local-space.

pub fn local_basis2(&self) -> Rot

The basis of this joint, expressed in the second rigid-body’s local-space.

pub fn set_local_basis2(&mut self, local_basis: Rot) -> &mut Self

Sets the joint’s frame, expressed in the second rigid-body’s local-space.

pub fn local_axis1(&self) -> Vect

The principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.

pub fn set_local_axis1(&mut self, local_axis: Vect) -> &mut Self

Sets the principal (local X) axis of this joint, expressed in the first rigid-body’s local-space.

pub fn local_axis2(&self) -> Vect

The principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.

pub fn set_local_axis2(&mut self, local_axis: Vect) -> &mut Self

Sets the principal (local X) axis of this joint, expressed in the second rigid-body’s local-space.

pub fn local_anchor1(&self) -> Vect

The anchor of this joint, expressed in the first rigid-body’s local-space.

pub fn set_local_anchor1(&mut self, anchor1: Vect) -> &mut Self

Sets anchor of this joint, expressed in the first rigid-body’s local-space.

pub fn local_anchor2(&self) -> Vect

The anchor of this joint, expressed in the second rigid-body’s local-space.

pub fn set_local_anchor2(&mut self, anchor2: Vect) -> &mut Self

Sets anchor of this joint, expressed in the second rigid-body’s local-space.

pub fn contacts_enabled(&self) -> bool

Are contacts between the attached rigid-bodies enabled?

pub fn set_contacts_enabled(&mut self, enabled: bool) -> &mut Self

Sets whether contacts between the attached rigid-bodies are enabled.

pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<Real>>

The joint limits along the specified axis.

pub fn set_limits(&mut self, axis: JointAxis, limits: [Real; 2]) -> &mut Self

Sets the joint limits along the specified axis.

pub fn set_coupled_axes(&mut self, axes: JointAxesMask) -> &mut Self

Sets the coupled degrees of freedom for this joint’s limits and motor.

pub fn motor_model(&self, axis: JointAxis) -> Option<MotorModel>

The spring-like motor model along the specified axis of this joint.

pub fn set_motor_model( &mut self, axis: JointAxis, model: MotorModel, ) -> &mut Self

Set the spring-like model used by the motor to reach the desired target velocity and position.

pub fn set_motor_velocity( &mut self, axis: JointAxis, target_vel: Real, factor: Real, ) -> &mut Self

Sets the target velocity this motor needs to reach.

pub fn set_motor_position( &mut self, axis: JointAxis, target_pos: Real, stiffness: Real, damping: Real, ) -> &mut Self

Sets the target angle this motor needs to reach.

pub fn set_motor_max_force( &mut self, axis: JointAxis, max_force: Real, ) -> &mut Self

Sets the maximum force the motor can deliver along the specified axis.

pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>

The motor affecting the joint’s degree of freedom along the specified axis.

pub fn set_motor( &mut self, axis: JointAxis, target_pos: Real, target_vel: Real, stiffness: Real, damping: Real, ) -> &mut Self

Configure both the target angle and target velocity of the motor.

impl GenericJoint

pub fn as_revolute(&self) -> Option<&RevoluteJoint>

Converts the joint to its specific variant, if it is one.

pub fn as_revolute_mut(&mut self) -> Option<&mut RevoluteJoint>

Converts the joint to its specific mutable variant, if it is one.

pub fn as_fixed(&self) -> Option<&FixedJoint>

Converts the joint to its specific variant, if it is one.

pub fn as_fixed_mut(&mut self) -> Option<&mut FixedJoint>

Converts the joint to its specific mutable variant, if it is one.

pub fn as_prismatic(&self) -> Option<&PrismaticJoint>

Converts the joint to its specific variant, if it is one.

pub fn as_prismatic_mut(&mut self) -> Option<&mut PrismaticJoint>

Converts the joint to its specific mutable variant, if it is one.

pub fn as_rope(&self) -> Option<&RopeJoint>

Converts the joint to its specific variant, if it is one.

pub fn as_rope_mut(&mut self) -> Option<&mut RopeJoint>

Converts the joint to its specific mutable variant, if it is one.

Trait Implementations

impl AsMut<GenericJoint> for TypedJoint

fn as_mut(&mut self) -> &mut GenericJoint

Converts this type into a mutable reference of the (usually inferred) input type.

impl AsRef<GenericJoint> for TypedJoint

fn as_ref(&self) -> &GenericJoint

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for GenericJoint

fn clone(&self) -> GenericJoint

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for GenericJoint

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

Formats the value using the given formatter.

impl Default for GenericJoint

fn default() -> GenericJoint

Returns the “default value” for a type.

impl From<FixedJoint> for GenericJoint

fn from(joint: FixedJoint) -> GenericJoint

Converts to this type from the input type.

impl From<GenericJointBuilder> for GenericJoint

fn from(joint: GenericJointBuilder) -> GenericJoint

Converts to this type from the input type.

impl From<PrismaticJoint> for GenericJoint

fn from(joint: PrismaticJoint) -> GenericJoint

Converts to this type from the input type.

impl From<RevoluteJoint> for GenericJoint

fn from(joint: RevoluteJoint) -> GenericJoint

Converts to this type from the input type.

impl From<RopeJoint> for GenericJoint

fn from(joint: RopeJoint) -> GenericJoint

Converts to this type from the input type.

impl From<SpringJoint> for GenericJoint

fn from(val: SpringJoint) -> GenericJoint

Converts to this type from the input type.

impl PartialEq for GenericJoint

fn eq(&self, other: &GenericJoint) -> 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 Copy for GenericJoint

impl StructuralPartialEq for GenericJoint