Struct GenericJoint

pub struct GenericJoint {
    pub local_frame1: Isometry<f32>,
    pub local_frame2: Isometry<f32>,
    pub locked_axes: JointAxesMask,
    pub limit_axes: JointAxesMask,
    pub motor_axes: JointAxesMask,
    pub coupled_axes: JointAxesMask,
    pub limits: [JointLimits<f32>; 3],
    pub motors: [JointMotor; 3],
    pub contacts_enabled: bool,
    pub enabled: JointEnabled,
    pub user_data: u128,
}

A generic joint.

Fields

local_frame1: Isometry<f32>

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

local_frame2: Isometry<f32>

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

locked_axes: JointAxesMask

The degrees-of-freedoms locked by this joint.

limit_axes: JointAxesMask

The degrees-of-freedoms limited by this joint.

motor_axes: JointAxesMask

The degrees-of-freedoms motorised by this joint.

coupled_axes: JointAxesMask

The coupled degrees of freedom of this joint.

Note that coupling degrees of freedoms (DoF) changes the interpretation of the coupled joint’s limits and motors. If multiple linear DoF are limited/motorized, only the limits/motor configuration for the first coupled linear DoF is applied to all coupled linear DoF. Similarly, if multiple angular DoF are limited/motorized only the limits/motor configuration for the first coupled angular DoF is applied to all coupled angular DoF.

limits: [JointLimits<f32>; 3]

The limits, along each degrees of freedoms of this joint.

Note that the limit must also be explicitly enabled by the limit_axes bitmask. For coupled degrees of freedoms (DoF), only the first linear (resp. angular) coupled DoF limit and limit_axis bitmask is applied to the coupled linear (resp. angular) axes.

motors: [JointMotor; 3]

The motors, along each degrees of freedoms of this joint.

Note that the motor must also be explicitly enabled by the motor_axes bitmask. For coupled degrees of freedoms (DoF), only the first linear (resp. angular) coupled DoF motor and motor_axes bitmask is applied to the coupled linear (resp. angular) axes.

contacts_enabled: bool

Are contacts between the attached rigid-bodies enabled?

enabled: JointEnabled

Whether or not the joint is enabled.

user_data: u128

User-defined data associated to this joint.

Implementations

impl GenericJoint

pub fn new(locked_axes: JointAxesMask) -> Self

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

pub fn is_enabled(&self) -> bool

Is this joint enabled?

pub fn set_enabled(&mut self, enabled: bool)

Set whether this joint is enabled or not.

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 set_local_frame1(&mut self, local_frame: Isometry<f32>) -> &mut Self

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

pub fn set_local_frame2(&mut self, local_frame: Isometry<f32>) -> &mut Self

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

pub fn local_axis1(&self) -> UnitVector<f32>

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: UnitVector<f32>) -> &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) -> UnitVector<f32>

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: UnitVector<f32>) -> &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) -> Point<f32>

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

pub fn set_local_anchor1(&mut self, anchor1: Point<f32>) -> &mut Self

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

pub fn local_anchor2(&self) -> Point<f32>

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

pub fn set_local_anchor2(&mut self, anchor2: Point<f32>) -> &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<f32>>

The joint limits along the specified axis.

pub fn set_limits(&mut self, axis: JointAxis, limits: [f32; 2]) -> &mut Self

Sets the joint limits along the specified axis.

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: f32, factor: f32, ) -> &mut Self

Sets the target velocity this motor needs to reach.

pub fn set_motor_position( &mut self, axis: JointAxis, target_pos: f32, stiffness: f32, damping: f32, ) -> &mut Self

Sets the target angle this motor needs to reach.

pub fn set_motor_max_force( &mut self, axis: JointAxis, max_force: f32, ) -> &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: f32, target_vel: f32, stiffness: f32, damping: f32, ) -> &mut Self

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

pub fn flip(&mut self)

Flips the orientation of the joint, including limits and motors.

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 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() -> Self

Returns the “default value” for a type.

impl From<FixedJoint> for GenericJoint

fn from(val: FixedJoint) -> GenericJoint

Converts to this type from the input type.

impl From<FixedJointBuilder> for GenericJoint

fn from(val: FixedJointBuilder) -> GenericJoint

Converts to this type from the input type.

impl From<GenericJointBuilder> for GenericJoint

fn from(val: GenericJointBuilder) -> GenericJoint

Converts to this type from the input type.

impl From<PrismaticJoint> for GenericJoint

fn from(val: PrismaticJoint) -> GenericJoint

Converts to this type from the input type.

impl From<PrismaticJointBuilder> for GenericJoint

fn from(val: PrismaticJointBuilder) -> GenericJoint

Converts to this type from the input type.

impl From<RevoluteJoint> for GenericJoint

fn from(val: RevoluteJoint) -> GenericJoint

Converts to this type from the input type.

impl From<RevoluteJointBuilder> for GenericJoint

fn from(val: RevoluteJointBuilder) -> GenericJoint

Converts to this type from the input type.

impl From<RopeJoint> for GenericJoint

fn from(val: RopeJoint) -> GenericJoint

Converts to this type from the input type.

impl From<RopeJointBuilder> for GenericJoint

fn from(val: RopeJointBuilder) -> 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 From<SpringJointBuilder> for GenericJoint

fn from(val: SpringJointBuilder) -> 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