Struct PrismaticJoint 

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

A sliding joint that allows movement along one axis only (like a piston or sliding door).

Prismatic joints lock all motion except sliding along a single axis. Use for:

• Pistons and hydraulics
• Sliding doors and drawers
• Elevator platforms
• Linear actuators
• Telescoping mechanisms

You can optionally add:

• Limits: Restrict sliding distance (min/max positions)
• Motor: Powered sliding with target velocity or position

The axis is specified when creating the joint and is expressed in each body’s local space.

Fields

data: GenericJoint

The underlying joint data.

Implementations

impl PrismaticJoint

pub fn new(axis: UnitVector<f32>) -> Self

Creates a new prismatic joint allowing only relative translations along the specified axis.

This axis is expressed in the local-space of both rigid-bodies.

pub fn data(&self) -> &GenericJoint

The underlying generic joint.

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 local_anchor1(&self) -> Point<f32>

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

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

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

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

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

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

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

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

The principal axis of the joint, expressed in the local-space of the first rigid-body.

pub fn set_local_axis1(&mut self, axis1: UnitVector<f32>) -> &mut Self

Sets the principal axis of the joint, expressed in the local-space of the first rigid-body.

pub fn local_axis2(&self) -> UnitVector<f32>

The principal axis of the joint, expressed in the local-space of the second rigid-body.

pub fn set_local_axis2(&mut self, axis2: UnitVector<f32>) -> &mut Self

Sets the principal axis of the joint, expressed in the local-space of the second rigid-body.

pub fn motor(&self) -> Option<&JointMotor>

The motor affecting the joint’s translational degree of freedom.

pub fn set_motor_model(&mut self, 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, target_vel: f32, factor: f32) -> &mut Self

Sets the motor’s target sliding speed.

Makes the joint slide at a desired velocity (like a powered piston or conveyor).

Parameters

• target_vel - Desired velocity in units/second
• factor - Motor strength

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

Sets the motor’s target position along the sliding axis.

Makes the joint slide toward a specific position using spring-like behavior.

Parameters

• target_pos - Desired position along the axis
• stiffness - Spring constant
• damping - Resistance to motion

pub fn set_motor( &mut self, target_pos: f32, target_vel: f32, stiffness: f32, damping: f32, ) -> &mut Self

Configures both target position and target velocity for the motor.

pub fn set_motor_max_force(&mut self, max_force: f32) -> &mut Self

Sets the maximum force the motor can deliver.

pub fn limits(&self) -> Option<&JointLimits<f32>>

The limit distance attached bodies can translate along the joint’s principal axis.

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

Sets the [min,max] limit distances attached bodies can translate along the joint’s principal axis.

pub fn softness(&self) -> SpringCoefficients<f32>

Gets the softness of this joint’s locked degrees of freedom.

pub fn set_softness(&mut self, softness: SpringCoefficients<f32>) -> &mut Self

Sets the softness of this joint.

Trait Implementations

impl Clone for PrismaticJoint

fn clone(&self) -> PrismaticJoint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PrismaticJoint

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

Formats the value using the given formatter.

impl From<PrismaticJoint> for GenericJoint

fn from(val: PrismaticJoint) -> GenericJoint

Converts to this type from the input type.

impl PartialEq for PrismaticJoint

fn eq(&self, other: &PrismaticJoint) -> 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 PrismaticJoint

impl StructuralPartialEq for PrismaticJoint