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MultibodyDofCoupling

rapier2d::dynamics

Struct MultibodyDofCoupling 

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pub struct MultibodyDofCoupling {
    pub link1: usize,
    pub dof1: usize,
    pub axis1: usize,
    pub link2: usize,
    pub dof2: usize,
    pub axis2: usize,
    pub coeff: f32,
    pub offset: f32,
}
Expand description

A holonomic coupling between two generalized coordinates of a single Multibody, q2 = coeff · q1 + offset, enforced as a velocity-level equality constraint. This is how MuJoCo’s <equality><joint> (a polynomial joint-to-joint coupling) is represented for the linear (first-order) case — e.g. the robotiq gripper’s two driver joints moving together.

Fields§

§link1: usize

Internal id of the link carrying the first joint.

§dof1: usize

Local free-DoF index of the coupled DoF within link1 (its position in that link’s slice of the generalized vectors).

§axis1: usize

Spatial-coordinate axis (0..6) of link1’s coupled DoF, used to read its generalized position from the joint coords.

§link2: usize

Internal id of the link carrying the second joint.

§dof2: usize

Local free-DoF index of the coupled DoF within link2.

§axis2: usize

Spatial-coordinate axis (0..6) of link2’s coupled DoF.

§coeff: f32

Linear coupling coefficient: the constraint is q2 − coeff·q1 − offset = 0.

§offset: f32

Constant offset of the coupling.

Trait Implementations§

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impl Clone for MultibodyDofCoupling

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fn clone(&self) -> MultibodyDofCoupling

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Copy for MultibodyDofCoupling

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impl Debug for MultibodyDofCoupling

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

Formats the value using the given formatter. Read more

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