Struct GenericJointBuilder

pub struct GenericJointBuilder(pub GenericJoint);

Create generic joints using the builder pattern.

Tuple Fields

0: GenericJoint

Implementations

impl GenericJointBuilder

pub fn new(locked_axes: JointAxesMask) -> Self

Creates a new generic joint builder.

pub fn locked_axes(self, axes: JointAxesMask) -> Self

Sets the degrees of freedom locked by the joint.

pub fn contacts_enabled(self, enabled: bool) -> Self

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

pub fn local_frame1(self, local_frame: Isometry<f32>) -> Self

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

pub fn local_frame2(self, local_frame: Isometry<f32>) -> Self

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

pub fn local_axis1(self, local_axis: UnitVector<f32>) -> Self

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

pub fn local_axis2(self, local_axis: UnitVector<f32>) -> Self

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

pub fn local_anchor1(self, anchor1: Point<f32>) -> Self

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

pub fn local_anchor2(self, anchor2: Point<f32>) -> Self

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

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

Sets the joint limits along the specified axis.

pub fn coupled_axes(self, axes: JointAxesMask) -> Self

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

pub fn motor_model(self, axis: JointAxis, model: MotorModel) -> Self

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

pub fn motor_velocity( self, axis: JointAxis, target_vel: f32, factor: f32, ) -> Self

Sets the target velocity this motor needs to reach.

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

Sets the target angle this motor needs to reach.

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

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

pub fn motor_max_force(self, axis: JointAxis, max_force: f32) -> Self

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

pub fn user_data(self, data: u128) -> Self

An arbitrary user-defined 128-bit integer associated to the joints built by this builder.

pub fn build(self) -> GenericJoint

Builds the generic joint.

Trait Implementations

impl Clone for GenericJointBuilder

fn clone(&self) -> GenericJointBuilder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for GenericJointBuilder

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

Formats the value using the given formatter.

impl From<GenericJointBuilder> for GenericJoint

fn from(val: GenericJointBuilder) -> GenericJoint

Converts to this type from the input type.

impl PartialEq for GenericJointBuilder

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

impl StructuralPartialEq for GenericJointBuilder