Struct jumpy::core::physics::rapier::MultibodyJoint

pub struct MultibodyJoint {
    pub data: GenericJoint,
    pub(crate) coords: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    pub(crate) joint_rot: Unit<Complex<f32>>,
}

An joint attached to two bodies based on the reduced coordinates formalism.

Fields

data: GenericJoint

The joint’s description.

coords: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

joint_rot: Unit<Complex<f32>>

Implementations

impl MultibodyJoint

pub fn new(data: GenericJoint) -> MultibodyJoint

Creates a new multibody joint from its description.

pub fn ndofs(&self) -> usize

The number of degrees of freedom allowed by the multibody_joint.

pub fn body_to_parent(&self) -> Isometry<f32, Unit<Complex<f32>>, 2>

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

pub fn integrate(&mut self, dt: f32, vels: &[f32])

Integrate the position of this multibody_joint.

pub fn apply_displacement(&mut self, disp: &[f32])

Apply a displacement to the multibody_joint.

pub fn jacobian( &self, transform: &Unit<Complex<f32>>, out: &mut Matrix<f32, Const<3>, Dyn, ViewStorageMut<'_, f32, Const<3>, Dyn, Const<1>, Const<3>>>, )

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

pub fn jacobian_mul_coordinates(&self, acc: &[f32]) -> RigidBodyVelocity

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

pub fn default_damping( &self, out: &mut Matrix<f32, Dyn, Const<1>, ViewStorageMut<'_, f32, Dyn, Const<1>, Const<1>, Dyn>>, )

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

pub fn num_velocity_constraints(&self) -> usize

Maximum number of velocity constrains that can be generated by this multibody_joint.

pub fn velocity_constraints( &self, params: &IntegrationParameters, multibody: &Multibody, link: &MultibodyLink, j_id: usize, jacobians: &mut Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>, constraints: &mut [JointGenericOneBodyConstraint], ) -> usize

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

Trait Implementations

impl Clone for MultibodyJoint

fn clone(&self) -> MultibodyJoint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for MultibodyJoint

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Copy for MultibodyJoint