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

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>`

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`pub fn new(position: Isometry<N>) -> Self`

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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>`

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`fn ndofs(&self) -> usize`

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`fn body_to_parent(&self, _: &Vector<N>, _: &Vector<N>) -> Isometry<N>`

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`fn update_jacobians(&mut self, _: &Vector<N>, _: &[N])`

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`fn jacobian(&self, _: &Isometry<N>, out: &mut JacobianSliceMut<N>)`

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

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`fn jacobian_dot_veldiff_mul_coordinates(`

&self,

_: &Isometry<N>,

_: &[N],

_: &mut JacobianSliceMut<N>

)

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&self,

_: &Isometry<N>,

_: &[N],

_: &mut JacobianSliceMut<N>

)

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

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

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

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

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

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

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`fn nimpulses(&self) -> usize`

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

`fn num_velocity_constraints(&self) -> usize`

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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>

)

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&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>

)

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

`fn num_position_constraints(&self) -> usize`

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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, ()>>

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&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.

`impl<N: Clone + RealField> Clone for FreeJoint<N>`

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`fn clone(&self) -> FreeJoint<N>`

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

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Performs copy-assignment from `source`

. Read more

`impl<N: Copy + RealField> Copy for FreeJoint<N>`

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`impl<N: Debug + RealField> Debug for FreeJoint<N>`

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## Auto Trait Implementations

`impl<N> Send for FreeJoint<N> where`

N: Scalar,

N: Scalar,

`impl<N> Unpin for FreeJoint<N> where`

N: Scalar + Unpin,

N: Scalar + Unpin,

`impl<N> Sync for FreeJoint<N> where`

N: Scalar,

N: Scalar,

`impl<N> RefUnwindSafe for FreeJoint<N> where`

N: RefUnwindSafe + Scalar,

N: RefUnwindSafe + Scalar,

`impl<N> UnwindSafe for FreeJoint<N> where`

N: Scalar + UnwindSafe,

N: Scalar + UnwindSafe,

## Blanket Implementations

`impl<T> From<T> for T`

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`impl<T, U> Into<U> for T where`

U: From<T>,

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U: From<T>,

`impl<T> ToOwned for T where`

T: Clone,

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T: Clone,

`type Owned = T`

The resulting type after obtaining ownership.

`fn to_owned(&self) -> T`

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`fn clone_into(&self, target: &mut T)`

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`impl<T, U> TryFrom<U> for T where`

U: Into<T>,

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U: Into<T>,

`type Error = Infallible`

The type returned in the event of a conversion error.

`fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`

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`impl<T, U> TryInto<U> for T where`

U: TryFrom<T>,

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U: TryFrom<T>,

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

The type returned in the event of a conversion error.

`fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`

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`impl<T> BorrowMut<T> for T where`

T: ?Sized,

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T: ?Sized,

`fn borrow_mut(&mut self) -> &mut T`

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`impl<T> Borrow<T> for T where`

T: ?Sized,

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T: ?Sized,

`impl<T> Any for T where`

T: 'static + ?Sized,

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T: 'static + ?Sized,

`impl<T> Downcast for T where`

T: Any,

T: Any,

`fn into_any(self: Box<T>) -> Box<dyn Any + 'static>`

`fn as_any(&self) -> &(dyn Any + 'static)`

`fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)`

`impl<T> Same<T> for T`

`type Output = T`

Should always be `Self`

`impl<SS, SP> SupersetOf<SS> for SP where`

SS: SubsetOf<SP>,

SS: SubsetOf<SP>,

`fn to_subset(&self) -> Option<SS>`

`fn is_in_subset(&self) -> bool`

`unsafe fn to_subset_unchecked(&self) -> SS`

`fn from_subset(element: &SS) -> SP`

`impl<T> Slottable for T where`

T: Copy,

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T: Copy,