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

A unit joint that allows only one relative rotational degree of freedom between two multibody links.

## Methods

`impl<N: Real> RevoluteJoint<N>`

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`impl<N: Real> RevoluteJoint<N>`

`pub fn new(angle: N) -> Self`

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`pub fn new(angle: N) -> Self`

Create a new revolute joint with an initial angle.

`pub fn axis(&self) -> Unit<AngularVector<N>>`

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`pub fn axis(&self) -> Unit<AngularVector<N>>`

The axis of the rotational degree of freedom.

`pub fn angle(&self) -> N`

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`pub fn angle(&self) -> N`

The angle of rotation.

`pub fn rotation(&self) -> &Rotation<N>`

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`pub fn rotation(&self) -> &Rotation<N>`

The rotation from an attached multibody link to its dependent.

`pub fn local_jacobian(&self) -> &Velocity<N>`

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`pub fn local_jacobian(&self) -> &Velocity<N>`

The jacobian of this joint expressed in the local coordinate frame of the joint.

`pub fn local_jacobian_dot(&self) -> &Velocity<N>`

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`pub fn local_jacobian_dot(&self) -> &Velocity<N>`

The time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.

`pub fn local_jacobian_dot_veldiff(&self) -> &Velocity<N>`

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`pub fn local_jacobian_dot_veldiff(&self) -> &Velocity<N>`

The velocity-derivative of the time-derivative of the jacobian of this joint expressed in the local coordinate frame of the joint.

`pub fn min_angle(&self) -> Option<N>`

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`pub fn min_angle(&self) -> Option<N>`

The lower limit of the rotation angle.

`pub fn max_angle(&self) -> Option<N>`

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`pub fn max_angle(&self) -> Option<N>`

The upper limit of the rotation angle.

`pub fn disable_min_angle(&mut self)`

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`pub fn disable_min_angle(&mut self)`

Disable the lower limit of the rotation angle.

`pub fn disable_max_angle(&mut self)`

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`pub fn disable_max_angle(&mut self)`

Disable the upper limit of the rotation angle.

`pub fn enable_min_angle(&mut self, limit: N)`

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`pub fn enable_min_angle(&mut self, limit: N)`

Enable and set the lower limit of the rotation angle.

`pub fn enable_max_angle(&mut self, limit: N)`

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`pub fn enable_max_angle(&mut self, limit: N)`

Enable and set the upper limit of the rotation angle.

`pub fn is_angular_motor_enabled(&self) -> bool`

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`pub fn is_angular_motor_enabled(&self) -> bool`

Return `true`

if the angular motor of this joint is enabled.

`pub fn enable_angular_motor(&mut self)`

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`pub fn enable_angular_motor(&mut self)`

Enable the angular motor of this joint.

`pub fn disable_angular_motor(&mut self)`

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`pub fn disable_angular_motor(&mut self)`

Disable the angular motor of this joint.

`pub fn desired_angular_motor_velocity(&self) -> N`

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`pub fn desired_angular_motor_velocity(&self) -> N`

The desired angular velocity of the joint motor.

`pub fn set_desired_angular_motor_velocity(&mut self, vel: N)`

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`pub fn set_desired_angular_motor_velocity(&mut self, vel: N)`

Set the desired angular velocity of the joint motor.

`pub fn max_angular_motor_torque(&self) -> N`

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`pub fn max_angular_motor_torque(&self) -> N`

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

`pub fn set_max_angular_motor_torque(&mut self, torque: N)`

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`pub fn set_max_angular_motor_torque(&mut self, torque: N)`

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

## Trait Implementations

`impl<N: Real> Joint<N> for RevoluteJoint<N>`

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`impl<N: Real> Joint<N> for RevoluteJoint<N>`

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

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

`fn ndofs(&self) -> usize`

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`fn ndofs(&self) -> usize`

`fn body_to_parent(`

&self,

parent_shift: &Vector<N>,

body_shift: &Vector<N>

) -> Isometry<N>

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`fn body_to_parent(`

&self,

parent_shift: &Vector<N>,

body_shift: &Vector<N>

) -> Isometry<N>

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

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

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

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

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

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

`fn jacobian_dot_veldiff_mul_coordinates(`

&self,

transform: &Isometry<N>,

acc: &[N],

out: &mut JacobianSliceMut<N>

)

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`fn jacobian_dot_veldiff_mul_coordinates(`

&self,

transform: &Isometry<N>,

acc: &[N],

out: &mut JacobianSliceMut<N>

)

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

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

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

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

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

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

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

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

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

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

`fn num_velocity_constraints(&self) -> usize`

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`fn num_velocity_constraints(&self) -> usize`

`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],

constraints: &mut ConstraintSet<N>

)

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`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],

constraints: &mut ConstraintSet<N>

)

`fn num_position_constraints(&self) -> usize`

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`fn num_position_constraints(&self) -> usize`

`fn position_constraint(`

&self,

_: usize,

multibody: &Multibody<N>,

link: &MultibodyLink<N>,

dof_id: usize,

jacobians: &mut [N]

) -> Option<GenericNonlinearConstraint<N>>

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`fn position_constraint(`

&self,

_: usize,

multibody: &Multibody<N>,

link: &MultibodyLink<N>,

dof_id: usize,

jacobians: &mut [N]

) -> Option<GenericNonlinearConstraint<N>>

`fn nimpulses(&self) -> usize`

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`fn nimpulses(&self) -> usize`

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

`impl<N: Real> UnitJoint<N> for RevoluteJoint<N>`

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`impl<N: Real> UnitJoint<N> for RevoluteJoint<N>`

`fn position(&self) -> N`

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`fn position(&self) -> N`

`fn motor(&self) -> &JointMotor<N, N>`

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`fn motor(&self) -> &JointMotor<N, N>`

`fn min_position(&self) -> Option<N>`

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`fn min_position(&self) -> Option<N>`

`fn max_position(&self) -> Option<N>`

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`fn max_position(&self) -> Option<N>`

`impl<N: Copy + Real> Copy for RevoluteJoint<N>`

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`impl<N: Copy + Real> Copy for RevoluteJoint<N>`

`impl<N: Clone + Real> Clone for RevoluteJoint<N>`

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`impl<N: Clone + Real> Clone for RevoluteJoint<N>`

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

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

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

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

Performs copy-assignment from `source`

. Read more

`impl<N: Debug + Real> Debug for RevoluteJoint<N>`

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`impl<N: Debug + Real> Debug for RevoluteJoint<N>`

## Auto Trait Implementations

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

N: Scalar,

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

N: Scalar,

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

N: Scalar,

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

N: Scalar,

## Blanket Implementations

`impl<T> From for T`

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`impl<T> From for T`

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

U: From<T>,

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

U: From<T>,

`impl<T> ToOwned for T where`

T: Clone,

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`impl<T> ToOwned for T where`

T: Clone,

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

T: From<U>,

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

T: From<U>,

`type Error = !`

`try_from`

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

`impl<T> Borrow for T where`

T: ?Sized,

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`impl<T> Borrow for T where`

T: ?Sized,

`impl<T> Any for T where`

T: 'static + ?Sized,

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`impl<T> Any for T where`

T: 'static + ?Sized,

`fn get_type_id(&self) -> TypeId`

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`fn get_type_id(&self) -> TypeId`

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

U: TryFrom<T>,

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

U: TryFrom<T>,

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

`try_from`

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

`impl<T> BorrowMut for T where`

T: ?Sized,

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`impl<T> BorrowMut for T where`

T: ?Sized,

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

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

`impl<T> Downcast for T where`

T: Any,

`impl<T> Downcast for T where`

T: Any,

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

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

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

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

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

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

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

SS: SubsetOf<SP>,

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

SS: SubsetOf<SP>,

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

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

`fn is_in_subset(&self) -> bool`

`fn is_in_subset(&self) -> bool`

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

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

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

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

`impl<T> Same for T`

`impl<T> Same for T`

`type Output = T`

Should always be `Self`