# Module nphysics2d::joint [−][src]

Joints using the reduced-coordinates formalism or using constraints.

## Structs

CartesianConstraint |
A constraint that removes all relative angular motion between two body parts. |

CartesianJoint |
A joint that allows only all the translational degrees of freedom between two multibody links. |

FixedConstraint |
A constraint that removes all degrees of freedom between two body parts. |

FixedJoint |
A joint that does not allow any relative degrees of freedom. |

FreeJoint |
A joint that allows all the relative degrees of freedom between two multibody links. |

JointMotor |
Description of a motor applied to a joint. |

MouseConstraint |
A spring-like constraint to be used to drag a body part with the mouse. |

PrismaticConstraint |
A constraint that remove all be one translational degrees of freedom. |

PrismaticJoint |
A unit joint that allows only one translational degree on freedom. |

RevoluteConstraint |
A constraint that removes all relative motions except the rotation between two body parts. |

RevoluteJoint |
A unit joint that allows only one relative rotational degree of freedom between two multibody links. |

## Traits

Joint |
Trait implemented by all joints following the reduced-coordinate formation. |

JointConstraint |
Trait implemented by joint that operate by generating constraints to restrict the relative motion of two body parts. |

UnitJoint |
Trait implemented by joints using the reduced-coordinates approach and allowing only one degree of freedom. |

## Functions

unit_joint_num_velocity_constraints |
Computes the maximum number of velocity constraints to be applied by the given unit joint. |

unit_joint_position_constraint |
Initializes and generate the position constraints applicable to the multibody links attached to this joint. |

unit_joint_velocity_constraints |
Initializes and generate the velocity constraints applicable to the multibody links attached to this joint. |

## Type Definitions

ConstraintHandle |
The handle of a consraint. |