Struct SphericalJoint 

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

A ball-and-socket joint that allows free rotation but no translation (like a shoulder joint).

Spherical joints keep two bodies connected at a point but allow them to rotate freely around that point in all directions. Use for:

• Shoulder/hip joints in ragdolls
• Ball-and-socket mechanical connections
• Wrecking ball chains
• Camera gimbals

The bodies stay connected at their anchor points but can rotate relative to each other.

Note: Only available in 3D. In 2D, use RevoluteJoint instead (there’s only one rotation axis in 2D).

Fields

data: GenericJoint

The underlying joint data.

Implementations

impl SphericalJoint

pub fn new() -> Self

Creates a new spherical joint locking all relative translations between two 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) -> Vector

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

pub fn set_local_anchor1(&mut self, anchor1: Vector) -> &mut Self

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

pub fn local_anchor2(&self) -> Vector

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

pub fn set_local_anchor2(&mut self, anchor2: Vector) -> &mut Self

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

pub fn local_frame1(&self) -> &Pose

Gets both the joint anchor and the joint’s reference orientation relative to the first rigid-body’s local-space.

pub fn set_local_frame1(&mut self, local_frame: Pose) -> &mut Self

Sets both the joint anchor and the joint’s reference orientation relative to the first rigid-body’s local-space.

pub fn local_frame2(&self) -> &Pose

Gets both the joint anchor and the joint’s reference orientation relative to the second rigid-body’s local-space.

pub fn set_local_frame2(&mut self, local_frame: Pose) -> &mut Self

Sets both the joint anchor and the joint’s reference orientation relative to the second rigid-body’s local-space.

pub fn motor(&self, axis: JointAxis) -> Option<&JointMotor>

The motor for a specific rotation axis of this spherical joint.

Spherical joints can have motors on each of their 3 rotation axes (X, Y, Z). Returns None if no motor is configured for that axis.

pub fn set_motor_model( &mut self, axis: JointAxis, model: MotorModel, ) -> &mut Self

Sets the motor model for a specific rotation axis.

Choose between force-based or acceleration-based motor behavior.

pub fn set_motor_velocity( &mut self, axis: JointAxis, target_vel: f32, factor: f32, ) -> &mut Self

Sets target rotation speed for a specific axis.

Parameters

• axis - Which rotation axis (AngX, AngY, or AngZ)
• target_vel - Desired angular velocity in radians/second
• factor - Motor strength

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

Sets target angle for a specific rotation axis.

Parameters

• axis - Which rotation axis (AngX, AngY, or AngZ)
• target_pos - Desired angle in radians
• stiffness - Spring constant
• damping - Resistance

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

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

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

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

pub fn limits(&self, axis: JointAxis) -> Option<&JointLimits<f32>>

The limit distance attached bodies can translate along the specified axis.

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

Sets the [min,max] limit angles 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’s locked degrees of freedom.

Trait Implementations

impl Clone for SphericalJoint

fn clone(&self) -> SphericalJoint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for SphericalJoint

impl Debug for SphericalJoint

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

Formats the value using the given formatter.

impl Default for SphericalJoint

fn default() -> Self

Returns the “default value” for a type.

impl From<SphericalJoint> for GenericJoint

fn from(val: SphericalJoint) -> GenericJoint

Converts to this type from the input type.

impl PartialEq for SphericalJoint

fn eq(&self, other: &SphericalJoint) -> 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 StructuralPartialEq for SphericalJoint