Struct nphysics3d::joint::PrismaticJoint[][src]

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

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

Methods

impl<N: Real> PrismaticJoint<N>
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Create a new prismatic joint where the allowed traslation is defined along the provided axis.

The axis is expressed in the local coordinate system of the two multibody links attached to this joint.

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

The relative translation of the attached multibody links along the joint axis.

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

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

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

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

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

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

Returns true if the joint motor is enabled.

Enable the joint motor.

Disable the joint motor.

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

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

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

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

Trait Implementations

impl<N: Copy + Real> Copy for PrismaticJoint<N>
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impl<N: Clone + Real> Clone for PrismaticJoint<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 PrismaticJoint<N>
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Formats the value using the given formatter. Read more

impl<N: Real> Joint<N> for PrismaticJoint<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.

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.

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

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.

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

impl<N: Real> UnitJoint<N> for PrismaticJoint<N>
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The generalized coordinate of the unit joint.

The motor applied to the degree of freedom of the unit joitn.

The lower limit, if any, set to the generalized coordinate of this unit joint.

The upper limit, if any, set to the generalized coordinate of this unit joint.

Auto Trait Implementations

impl<N> Send for PrismaticJoint<N> where
    N: Scalar

impl<N> Sync for PrismaticJoint<N> where
    N: Scalar