Struct nphysics3d::joint::RectangularJoint

pub struct RectangularJoint<N: RealField> { /* fields omitted */ }

A joint that allows two translational degrees of freedom.

Methods

impl<N: RealField> RectangularJoint<N>

pub fn new(
    axis1: Unit<Vector3<N>>,
    axis2: Unit<Vector3<N>>,
    offset1: N,
    offset2: N
) -> Self

Creates a new rectangular joint allowing relative translations anlon the two provided axii.Isometry3

Both axii are expressed in the local coordinate frame on the attached multibody links.

impl<N: RealField> RectangularJoint<N>

pub fn min_offset_1(&self) -> Option<N>

The lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn max_offset_1(&self) -> Option<N>

The upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_min_offset_1(&mut self)

Disable the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_max_offset_1(&mut self)

Disable the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_min_offset_1(&mut self, limit: N)

Set the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_max_offset_1(&mut self, limit: N)

Set the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn is_linear_motor_enabled_1(&self) -> bool

Returns true if the joint translational motor is enabled.

pub fn enable_linear_motor_1(&mut self)

Enable the joint translational motor.

pub fn disable_linear_motor_1(&mut self)

Disable the joint translational motor.

pub fn desired_linear_motor_velocity_1(&self) -> N

The desired relative translational velocity to be enforced by the joint motor.

pub fn set_desired_linear_motor_velocity_1(&mut self, vel: N)

Set the desired relative translational velocity to be enforced by the joint motor.

pub fn max_linear_motor_force_1(&self) -> N

The maximum force that can be output by the joint translational motor.

pub fn set_max_linear_motor_force_1(&mut self, force: N)

Set the maximum force that can be output by the joint translational motor.

impl<N: RealField> RectangularJoint<N>

pub fn min_offset_2(&self) -> Option<N>

The lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn max_offset_2(&self) -> Option<N>

The upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_min_offset_2(&mut self)

Disable the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn disable_max_offset_2(&mut self)

Disable the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_min_offset_2(&mut self, limit: N)

Set the lower limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn enable_max_offset_2(&mut self, limit: N)

Set the upper limit of the relative translational displacement of the attached multibody links along the joint axis.

pub fn is_linear_motor_enabled_2(&self) -> bool

Returns true if the joint translational motor is enabled.

pub fn enable_linear_motor_2(&mut self)

Enable the joint translational motor.

pub fn disable_linear_motor_2(&mut self)

Disable the joint translational motor.

pub fn desired_linear_motor_velocity_2(&self) -> N

The desired relative translational velocity to be enforced by the joint motor.

pub fn set_desired_linear_motor_velocity_2(&mut self, vel: N)

Set the desired relative translational velocity to be enforced by the joint motor.

pub fn max_linear_motor_force2(&self) -> N

The maximum force that can be output by the joint translational motor.

pub fn set_max_linear_motor_force_2(&mut self, force: N)

Set the maximum force that can be output by the joint translational motor.

Trait Implementations

impl<N: Clone + RealField> Clone for RectangularJoint<N>

fn clone(&self) -> RectangularJoint<N>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<N: Copy + RealField> Copy for RectangularJoint<N>

impl<N: Debug + RealField> Debug for RectangularJoint<N>

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

Formats the value using the given formatter.

impl<N: RealField> Joint<N> for RectangularJoint<N>

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent(
    &self,
    parent_shift: &Vector3<N>,
    body_shift: &Vector3<N>
) -> Isometry3<N>

The position of the multibody link containing this joint relative to its parent.

fn update_jacobians(&mut self, body_shift: &Vector3<N>, vels: &[N])

Update the jacobians of this joint.

fn jacobian(&self, transform: &Isometry3<N>, out: &mut JacobianSliceMut<N>)

Sets in out the non-zero entries of the joint jacobian transformed by transform.

fn jacobian_dot(&self, _: &Isometry3<N>, _: &mut JacobianSliceMut<N>)

Sets in out the non-zero entries of the time-derivative of the joint jacobian transformed by transform.

fn jacobian_dot_veldiff_mul_coordinates(
    &self,
    _: &Isometry3<N>,
    _: &[N],
    _: &mut JacobianSliceMut<N>
)

Sets in out the non-zero entries of the velocity-derivative of the time-derivative of the joint jacobian transformed by transform.

fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint.

fn jacobian_dot_mul_coordinates(&self, _: &[N]) -> Velocity<N>

Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.

fn default_damping(&self, out: &mut DVectorSliceMut<N>)

Fill out with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.

fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N])

Integrate the position of this joint.

fn apply_displacement(&mut self, disp: &[N])

Apply a displacement to the joint.

fn clone(&self) -> Box<dyn Joint<N>>

fn num_velocity_constraints(&self) -> usize

Maximum number of velocity constrains that can be generated by this joint.

fn velocity_constraints(
    &self,
    parameters: &IntegrationParameters<N>,
    multibody: &Multibody<N>,
    link: &MultibodyLink<N>,
    assembly_id: usize,
    dof_id: usize,
    ext_vels: &[N],
    ground_j_id: &mut usize,
    jacobians: &mut [N],
    constraints: &mut ConstraintSet<N, (), (), usize>
)

Initialize and generate velocity constraints to enforce, e.g., joint limits and motors.

fn num_position_constraints(&self) -> usize

The maximum number of non-linear position constraints that can be generated by this joint.

fn position_constraint(
    &self,
    i: usize,
    multibody: &Multibody<N>,
    link: &MultibodyLink<N>,
    handle: BodyPartHandle<()>,
    dof_id: usize,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, ()>>

Initialize and generate the i-th position constraints to enforce, e.g., joint limits.

fn nimpulses(&self) -> usize

The maximum number of impulses needed by this joints for its constraints.