Struct nphysics3d::joint::UniversalJoint[][src]

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

A joint that allows only two relative rotations between two multibody links.

Methods

impl<N: Real> UniversalJoint<N>
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Creates an universal joint allowing rotations along axis1 and axis2.

The axii are expressed in the local coordinate systems of the attached multibody links.

impl<N: Real> UniversalJoint<N>
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The lower limit of the rotation angle.

The upper limit of the rotation angle.

Disable the lower limit of the rotation angle.

Disable the upper limit of the rotation angle.

Enable and set the lower limit of the rotation angle.

Enable and set the upper limit of the rotation angle.

Return true if the angular motor of this joint is enabled.

Enable the angular motor of this joint.

Disable the angular motor of this joint.

The desired angular velocity of the joint motor.

Set the desired angular velocity of the joint motor.

The maximum torque that can be delivered by the joint motor.

Set the maximum torque that can be delivered by the joint motor.

impl<N: Real> UniversalJoint<N>
[src]

The lower limit of the rotation angle.

The upper limit of the rotation angle.

Disable the lower limit of the rotation angle.

Disable the upper limit of the rotation angle.

Enable and set the lower limit of the rotation angle.

Enable and set the upper limit of the rotation angle.

Return true if the angular motor of this joint is enabled.

Enable the angular motor of this joint.

Disable the angular motor of this joint.

The desired angular velocity of the joint motor.

Set the desired angular velocity of the joint motor.

The maximum torque that can be delivered by the joint motor.

Set the maximum torque that can be delivered by the joint motor.

Trait Implementations

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

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

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

Auto Trait Implementations

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

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