[][src]Module nphysics2d::joint

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.

DefaultJointConstraintSet

A set containing all the joint-constraints added to the world.

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.

JointConstraintSet

Trait implemented by sets of constraint-based joints.

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

DefaultJointConstraintHandle

The handle of a joint on a DefaultJointConstraintsSet.