[][src]Struct nphysics2d::joint::FreeJoint

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

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

This joint can only be added between a Ground body (as parent) and any other body.

Methods

impl<N: RealField> FreeJoint<N>[src]

pub fn new(position: Isometry<N>) -> Self[src]

Creates a free joint with the given initial position of the descendent, relative to the ground.

Trait Implementations

impl<N: RealField> Joint<N> for FreeJoint<N>[src]

fn nimpulses(&self) -> usize[src]

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

fn num_velocity_constraints(&self) -> usize[src]

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

fn velocity_constraints(
    &self,
    _params: &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],
    _velocity_constraints: &mut ConstraintSet<N, (), (), usize>
)
[src]

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

fn num_position_constraints(&self) -> usize[src]

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, ()>>
[src]

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

impl<N: Clone + RealField> Clone for FreeJoint<N>[src]

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl<N: Copy + RealField> Copy for FreeJoint<N>[src]

impl<N: Debug + RealField> Debug for FreeJoint<N>[src]

Auto Trait Implementations

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

impl<N> Unpin for FreeJoint<N> where
    N: Scalar + Unpin

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

impl<N> RefUnwindSafe for FreeJoint<N> where
    N: RefUnwindSafe + Scalar

impl<N> UnwindSafe for FreeJoint<N> where
    N: Scalar + UnwindSafe

Blanket Implementations

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, 
[src]

impl<T> ToOwned for T where
    T: Clone
[src]

type Owned = T

The resulting type after obtaining ownership.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, 
[src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, 
[src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

impl<T> BorrowMut<T> for T where
    T: ?Sized
[src]

impl<T> Borrow<T> for T where
    T: ?Sized
[src]

impl<T> Any for T where
    T: 'static + ?Sized
[src]

impl<T> Downcast for T where
    T: Any

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 

impl<T> Slottable for T where
    T: Copy
[src]