Struct nphysics3d::joint::CartesianJoint[][src]

pub struct CartesianJoint<N: Real> { /* fields omitted */ }

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

Methods

impl<N: Real> CartesianJoint<N>
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Create a cartesian joint with an initial position given by position.

Trait Implementations

impl<N: Copy + Real> Copy for CartesianJoint<N>
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impl<N: Clone + Real> Clone for CartesianJoint<N>
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Returns a copy of the value. Read more

Performs copy-assignment from source. Read more

impl<N: Debug + Real> Debug for CartesianJoint<N>
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Formats the value using the given formatter. Read more

impl<N: Real> Joint<N> for CartesianJoint<N>
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The number of degrees of freedom allowed by the joint.

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

Update the jacobians of this joint.

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

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

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

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

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

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

Integrate the position of this joint.

Apply a displacement to the joint.

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

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

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

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

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

Auto Trait Implementations

impl<N> Send for CartesianJoint<N>

impl<N> Sync for CartesianJoint<N>