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

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

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

Methods

impl<N: RealField> RevoluteJoint<N>[src]

pub fn new(angle: N) -> Self[src]

Create a new revolute joint with an initial angle.

pub fn axis(&self) -> Unit<AngularVector<N>>[src]

The axis of the rotational degree of freedom.

pub fn angle(&self) -> N[src]

The angle of rotation.

pub fn rotation(&self) -> &Rotation<N>[src]

The rotation from an attached multibody link to its dependent.

pub fn local_jacobian(&self) -> &Velocity<N>[src]

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

pub fn local_jacobian_dot(&self) -> &Velocity<N>[src]

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>[src]

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>[src]

The lower limit of the rotation angle.

pub fn max_angle(&self) -> Option<N>[src]

The upper limit of the rotation angle.

pub fn disable_min_angle(&mut self)[src]

Disable the lower limit of the rotation angle.

pub fn disable_max_angle(&mut self)[src]

Disable the upper limit of the rotation angle.

pub fn enable_min_angle(&mut self, limit: N)[src]

Enable and set the lower limit of the rotation angle.

pub fn enable_max_angle(&mut self, limit: N)[src]

Enable and set the upper limit of the rotation angle.

pub fn is_angular_motor_enabled(&self) -> bool[src]

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

pub fn enable_angular_motor(&mut self)[src]

Enable the angular motor of this joint.

pub fn disable_angular_motor(&mut self)[src]

Disable the angular motor of this joint.

pub fn desired_angular_motor_velocity(&self) -> N[src]

The desired angular velocity of the joint motor.

pub fn set_desired_angular_motor_velocity(&mut self, vel: N)[src]

Set the desired angular velocity of the joint motor.

pub fn max_angular_motor_torque(&self) -> N[src]

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

pub fn set_max_angular_motor_torque(&mut self, torque: N)[src]

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

Trait Implementations

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

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

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

impl<N: RealField> UnitJoint<N> for RevoluteJoint<N>[src]

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

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

Auto Trait Implementations

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

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

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

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

impl<N> UnwindSafe for RevoluteJoint<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]