[][src]Struct nphysics3d::joint::UniversalJoint

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

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

Methods

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

pub fn new(
    axis1: Unit<Vector3<N>>,
    axis2: Unit<Vector3<N>>,
    angle1: N,
    angle2: N
) -> Self
[src]

Creates an universal joint allowing rotations along axis1 and axis2.

The axii are expressed in the local coordinate systems of the attached multibody links.

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

pub fn min_angle_1(&self) -> Option<N>[src]

The lower limit of the rotation angle.

pub fn max_angle_1(&self) -> Option<N>[src]

The upper limit of the rotation angle.

pub fn disable_min_angle_1(&mut self)[src]

Disable the lower limit of the rotation angle.

pub fn disable_max_angle_1(&mut self)[src]

Disable the upper limit of the rotation angle.

pub fn enable_min_angle_1(&mut self, limit: N)[src]

Enable and set the lower limit of the rotation angle.

pub fn enable_max_angle_1(&mut self, limit: N)[src]

Enable and set the upper limit of the rotation angle.

pub fn is_angular_motor_enabled_1(&self) -> bool[src]

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

pub fn enable_angular_motor_1(&mut self)[src]

Enable the angular motor of this joint.

pub fn disable_angular_motor_1(&mut self)[src]

Disable the angular motor of this joint.

pub fn desired_angular_motor_velocity_1(&self) -> N[src]

The desired angular velocity of the joint motor.

pub fn set_desired_angular_motor_velocity_1(&mut self, vel: N)[src]

Set the desired angular velocity of the joint motor.

pub fn max_angular_motor_torque_1(&self) -> N[src]

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

pub fn set_max_angular_motor_torque_1(&mut self, torque: N)[src]

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

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

pub fn min_angle_2(&self) -> Option<N>[src]

The lower limit of the rotation angle.

pub fn max_angle_2(&self) -> Option<N>[src]

The upper limit of the rotation angle.

pub fn disable_min_angle_2(&mut self)[src]

Disable the lower limit of the rotation angle.

pub fn disable_max_angle_2(&mut self)[src]

Disable the upper limit of the rotation angle.

pub fn enable_min_angle_2(&mut self, limit: N)[src]

Enable and set the lower limit of the rotation angle.

pub fn enable_max_angle_2(&mut self, limit: N)[src]

Enable and set the upper limit of the rotation angle.

pub fn is_angular_motor_enabled_2(&self) -> bool[src]

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

pub fn enable_angular_motor_2(&mut self)[src]

Enable the angular motor of this joint.

pub fn disable_angular_motor_2(&mut self)[src]

Disable the angular motor of this joint.

pub fn desired_angular_motor_velocity_2(&self) -> N[src]

The desired angular velocity of the joint motor.

pub fn set_desired_angular_motor_velocity_2(&mut self, vel: N)[src]

Set the desired angular velocity of the joint motor.

pub fn max_angular_motor_torque_2(&self) -> N[src]

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

pub fn set_max_angular_motor_torque_2(&mut self, torque: N)[src]

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

Trait Implementations

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

impl<N: Copy + RealField> Copy for UniversalJoint<N>[src]

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

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

Auto Trait Implementations

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

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

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

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

impl<N> UnwindSafe for UniversalJoint<N> where
    N: Scalar + UnwindSafe

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized
[src]

impl<T> Borrow<T> for T where
    T: ?Sized
[src]

impl<T> BorrowMut<T> for T where
    T: ?Sized
[src]

impl<T> Downcast for T where
    T: Any

impl<T> DowncastSync for T where
    T: Send + Sync + Any

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, 
[src]

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<T> Slottable for T where
    T: Copy
[src]

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 

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<V, T> VZip<V> for T where
    V: MultiLane<T>,