Struct SphericalJointBuilder

pub struct SphericalJointBuilder(pub SphericalJoint);

Create spherical joints using the builder pattern.

Tuple Fields

0: SphericalJoint

Implementations

impl SphericalJointBuilder

pub fn new() -> Self

Creates a new builder for spherical joints.

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

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

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

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

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

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

pub fn local_frame1(self, frame1: Isometry<f32>) -> 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, frame2: Isometry<f32>) -> Self

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

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

Sets the [min,max] limit distances attached bodies can rotate along the specified axis.

pub fn build(self) -> SphericalJoint

Builds the spherical joint.

Trait Implementations

impl Clone for SphericalJointBuilder

fn clone(&self) -> SphericalJointBuilder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for SphericalJointBuilder

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

Formats the value using the given formatter.

impl Default for SphericalJointBuilder

fn default() -> Self

Returns the “default value” for a type.

impl From<SphericalJointBuilder> for GenericJoint

fn from(val: SphericalJointBuilder) -> GenericJoint

Converts to this type from the input type.

impl PartialEq for SphericalJointBuilder

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

impl StructuralPartialEq for SphericalJointBuilder