Struct MultibodyJoint 

pub struct MultibodyJoint {
    pub parent: Entity,
    pub data: TypedJoint,
}

An joint based on generalized coordinates, attached to two entities.

The first end-point of the joint is the rigid-body attached to MultibodyJoint::parent. The second endpoint of the joint is the rigid-body attached to the entity containing this MultibodyJoint component.

Note that a set of multibody joints cannot form closed loops (for example a necklace). If a closed loop is detected, the last joint that closes the loop is ignored, and an error is printed to stderr (using log::error!).

Modifying parent re-attaches the joint to the rigid-body of the new parent entity. The joint can be further configured with the KinematicMultibodyJoint, MultibodyJointDamping, MultibodyJointFriction, MultibodyJointArmature, MultibodyJointSprings and MultibodyJointCouplings components, and its coordinates are read back into the MultibodyJointState component after each simulation step.

Note that the user_data of the underlying Rapier joint is reserved: it stores the bits of the entity containing this component.

Fields

parent: Entity

The entity containing the rigid-body used as the first endpoint of this joint.

data: TypedJoint

The joint’s description.

Implementations

impl MultibodyJoint

pub fn new(parent: Entity, data: impl Into<TypedJoint>) -> Self

Initializes an joint based on reduced coordinates from its first endpoint and the joint description.

Trait Implementations

impl Clone for MultibodyJoint

fn clone(&self) -> MultibodyJoint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Component for MultibodyJoint

where Self: Send + Sync + 'static,

Required Components: MultibodyJointState.

A component’s Required Components are inserted whenever it is inserted. Note that this will also insert the required components of the required components, recursively, in depth-first order.

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, required_components: &mut RequiredComponentsRegistrator<'_, '_>, )

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 relationship_accessor() -> Option<ComponentRelationshipAccessor<Self>>

Returns ComponentRelationshipAccessor required for working with relationships in dynamic contexts.

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_discard() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_discard 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]

const HAS_SUMMARY_TICK: bool = false

Set this constant to true if the component should track a summary tick.

impl Copy for MultibodyJoint

impl Debug for MultibodyJoint

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

Formats the value using the given formatter.

impl PartialEq for MultibodyJoint

fn eq(&self, other: &MultibodyJoint) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for MultibodyJoint