[][src]Trait nphysics2d::joint::Joint

pub trait Joint<N: RealField>: Downcast + Send + Sync {
    fn ndofs(&self) -> usize;
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]);
fn integrate(&mut self, parameters: &IntegrationParameters<N>, vels: &[N]);
fn apply_displacement(&mut self, disp: &[N]);
fn jacobian(&self, transform: &Isometry<N>, out: &mut JacobianSliceMut<N>);
fn jacobian_dot(
        &self,
        transform: &Isometry<N>,
        out: &mut JacobianSliceMut<N>
    );
fn jacobian_dot_veldiff_mul_coordinates(
        &self,
        transform: &Isometry<N>,
        vels: &[N],
        out: &mut JacobianSliceMut<N>
    );
fn jacobian_mul_coordinates(&self, vels: &[N]) -> Velocity<N>;
fn jacobian_dot_mul_coordinates(&self, vels: &[N]) -> Velocity<N>;
fn default_damping(&self, out: &mut DVectorSliceMut<N>);
fn clone(&self) -> Box<dyn Joint<N>>; fn nimpulses(&self) -> usize { ... }
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],
        _velocity_constraints: &mut ConstraintSet<N, (), (), usize>
    ) { ... }
fn num_position_constraints(&self) -> usize { ... }
fn position_constraint(
        &self,
        _i: usize,
        _multibody: &Multibody<N>,
        _link: &MultibodyLink<N>,
        _handle: BodyPartHandle<()>,
        _dof_id: usize,
        _jacobians: &mut [N]
    ) -> Option<GenericNonlinearConstraint<N, ()>> { ... } }

Trait implemented by all joints following the reduced-coordinate formation.

Required methods

fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the joint.

fn body_to_parent(
    &self,
    parent_shift: &Vector<N>,
    body_shift: &Vector<N>
) -> Isometry<N>

The position of the multibody link containing this joint relative to its parent.

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

Update the jacobians of this joint.

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

Integrate the position of this joint.

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

Apply a displacement to the joint.

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

Sets in out the non-zero entries of the joint jacobian transformed by transform.

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

Sets in out the non-zero entries of the time-derivative of the joint jacobian transformed by transform.

fn jacobian_dot_veldiff_mul_coordinates(
    &self,
    transform: &Isometry<N>,
    vels: &[N],
    out: &mut JacobianSliceMut<N>
)

Sets in out the non-zero entries of the velocity-derivative of the time-derivative of the joint jacobian transformed by transform.

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

Multiply the joint jacobian by generalized velocities to obtain the relative velocity of the multibody link containing this joint.

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

Multiply the joint jacobian by generalized accelerations to obtain the relative acceleration of the multibody link containing this joint.

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

Fill out with the non-zero entries of a damping that can be applied by default to ensure a good stability of the joint.

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

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Provided methods

fn nimpulses(&self) -> usize

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

fn num_velocity_constraints(&self) -> usize

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>
)

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

fn num_position_constraints(&self) -> usize

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, ()>>

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

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Methods

impl<N> dyn Joint<N> where
    N: Any + 'static,
    N: RealField, 

pub fn is<__T: Joint<N>>(&self) -> bool

Returns true if the trait object wraps an object of type __T.

pub fn downcast<__T: Joint<N>>(self: Box<Self>) -> Result<Box<__T>, Box<Self>>

Returns a boxed object from a boxed trait object if the underlying object is of type __T. Returns the original boxed trait if it isn't.

pub fn downcast_ref<__T: Joint<N>>(&self) -> Option<&__T>

Returns a reference to the object within the trait object if it is of type __T, or None if it isn't.

pub fn downcast_mut<__T: Joint<N>>(&mut self) -> Option<&mut __T>

Returns a mutable reference to the object within the trait object if it is of type __T, or None if it isn't.

Implementors

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

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

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

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

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

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