Struct MultibodyJoint

pub struct MultibodyJoint {
    pub data: GenericJoint,
    pub kinematic: bool,
    /* private fields */
}

An joint attached to two bodies based on the reduced coordinates formalism.

Fields

data: GenericJoint

The joint’s description.

kinematic: bool

Is the joint a kinematic joint?

Kinematic joint velocities are never changed by the physics engine. This gives the user total control over the values of their degrees of freedoms.

Implementations

impl MultibodyJoint

pub fn new(data: GenericJoint, kinematic: bool) -> Self

Creates a new multibody joint from its description.

pub fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the multibody_joint.

pub fn body_to_parent(&self) -> Isometry<f32>

The position of the multibody link containing this multibody_joint relative to its parent.

pub fn integrate(&mut self, dt: f32, vels: &[f32])

Integrate the position of this multibody_joint.

pub fn apply_displacement(&mut self, disp: &[f32])

Apply a displacement to the multibody_joint.

pub fn jacobian( &self, transform: &Rotation<f32>, out: &mut JacobianViewMut<'_, f32>, )

Sets in out the non-zero entries of the multibody_joint jacobian transformed by transform.

pub fn jacobian_mul_coordinates(&self, acc: &[f32]) -> RigidBodyVelocity

Multiply the multibody_joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this multibody_joint.

pub fn default_damping(&self, out: &mut DVectorViewMut<'_, f32>)

Fill out with the non-zero entries of a damping that can be applied by default to ensure a good stability of the multibody_joint.

pub fn num_velocity_constraints(&self) -> usize

Maximum number of velocity constrains that can be generated by this multibody_joint.

pub fn velocity_constraints( &self, params: &IntegrationParameters, multibody: &Multibody, link: &MultibodyLink, j_id: usize, jacobians: &mut DVector<f32>, constraints: &mut [JointGenericOneBodyConstraint], ) -> usize

Initialize and generate velocity constraints to enforce, e.g., multibody_joint limits and motors.

Trait Implementations

impl Clone for MultibodyJoint

fn clone(&self) -> MultibodyJoint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for MultibodyJoint

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

Formats the value using the given formatter.

impl Copy for MultibodyJoint