# [−][src]Module nphysics3d::joint

Joints using the reduced-coordinates formalism or using constraints.

## Structs

BallConstraint | A constraint that removes all relative linear motion between two body parts. |

BallJoint | A joint that allows only all rotational degrees of freedom between two multibody links. |

CartesianConstraint | A constraint that removes all relative angular motion between two body parts. |

CartesianJoint | A joint that allows only all the translational degrees of freedom between two multibody links. |

CylindricalConstraint | A constraint that removes all degrees of freedom (of one body part relative to a second one) except one translation along an axis and one rotation along the same axis. |

CylindricalJoint | A joint that allows one translational and one rotational degrees of freedom along a single axis. |

DefaultJointConstraintSet | A set containing all the joint-constraints added to the world. |

FixedConstraint | A constraint that removes all degrees of freedom between two body parts. |

FixedJoint | A joint that does not allow any relative degrees of freedom. |

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

HelicalJoint | A joint that allows one degree of freedom between two multibody links. |

JointMotor | Description of a motor applied to a joint. |

MouseConstraint | A spring-like constraint to be used to drag a body part with the mouse. |

PinSlotConstraint | A constraint that removes two translational and two rotational degrees of freedoms. |

PinSlotJoint | A joint that allows one translational and one rotational degrees of freedom. |

PlanarConstraint | A constraint that removes one relative translational degree of freedom, and all but one rotational degrees of freedom. |

PlanarJoint | A joint that allows 1 rotational and 2 translational degrees of freedom. |

PrismaticConstraint | A constraint that remove all be one translational degrees of freedom. |

PrismaticJoint | A unit joint that allows only one translational degree on freedom. |

RectangularConstraint | A constraint that remove all relative rotations and one relative translation between two body parts. |

RectangularJoint | A joint that allows two translational degrees of freedom. |

RevoluteConstraint | A constraint that removes all relative motions except one rotation between two body parts. |

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

UniversalConstraint | A constraint that removes all but two relative rotations along distinct axii. |

UniversalJoint | A joint that allows only two relative rotations between two multibody links. |

## Traits

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

JointConstraint | Trait implemented by joint that operate by generating constraints to restrict the relative motion of two body parts. |

JointConstraintSet | Trait implemented by sets of constraint-based joints. |

UnitJoint | Trait implemented by joints using the reduced-coordinates approach and allowing only one degree of freedom. |

## Functions

unit_joint_num_velocity_constraints | Computes the maximum number of velocity constraints to be applied by the given unit joint. |

unit_joint_position_constraint | Initializes and generate the position constraints applicable to the multibody links attached to this joint. |

unit_joint_velocity_constraints | Initializes and generate the velocity constraints applicable to the multibody links attached to this joint. |

## Type Definitions

DefaultJointConstraintHandle | The handle of a joint on a |