PrismaticJointBuilder

rapier3d::dynamics

Struct PrismaticJointBuilder 

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pub struct PrismaticJointBuilder(pub PrismaticJoint);
Expand description

Create prismatic joints using the builder pattern.

A prismatic joint locks all relative motion except for translations along the joint’s principal axis.

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§0: PrismaticJoint

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impl PrismaticJointBuilder

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

Creates a new builder for prismatic joints.

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

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

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

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

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

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

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

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pub fn local_axis1(self, axis1: UnitVector<f32>) -> Self

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

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pub fn local_axis2(self, axis2: UnitVector<f32>) -> Self

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

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

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

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

Sets the target velocity this motor needs to reach.

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

Sets the target angle this motor needs to reach.

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

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

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

Sets the maximum force the motor can deliver.

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

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

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

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

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pub fn build(self) -> PrismaticJoint

Builds the prismatic joint.

Trait Implementations§

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impl Clone for PrismaticJointBuilder

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fn clone(&self) -> PrismaticJointBuilder

Returns a duplicate of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PrismaticJointBuilder

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

Formats the value using the given formatter. Read more
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impl From<PrismaticJointBuilder> for GenericJoint

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fn from(val: PrismaticJointBuilder) -> GenericJoint

Converts to this type from the input type.
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impl PartialEq for PrismaticJointBuilder

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fn eq(&self, other: &PrismaticJointBuilder) -> bool

Tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl Copy for PrismaticJointBuilder

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impl StructuralPartialEq for PrismaticJointBuilder

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🔬This is a nightly-only experimental API. (clone_to_uninit)
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