Enum Joint 

pub enum Joint {
    Revolute,
    Slider,
    Cylindrical,
    Planar,
    PinSlot,
    Ball,
    Universal,
    Fastened,
}

The joints there are, each a row of one table — how it lets the second frame turn, and which motions it frees (Joint::frees): every joint is the second frame held on the first within those, so that one formulation (joint_residuals) holds them all.

Variants

Revolute

Turns about the axis, nothing else: a hinge, a robot’s joint.

Slider

Slides along the axis, nothing else.

Cylindrical

Turns about the axis and slides along it: a shaft in a bearing.

Planar

Slides in the first frame’s xy plane and turns about its z: a part sliding on a table.

PinSlot

Slides along the first frame’s x axis and turns about its z: a pin in a straight slot.

Ball

Turns any way about the frames’ common origin: a ball in its socket.

Universal

Turns about either frame’s z axis, the two kept square and meeting at the origins: a universal joint’s cross.

Fastened

Neither: the frames coincide, and the two bodies move as one.

Implementations

impl Joint

pub const ALL: [Joint; 8]

Every joint, in the order they are offered.

pub fn frees(self) -> (Turning, &'static [Motion])

The table: how it lets the second frame turn, and the motions it frees as coordinates — the turn about z among them where it turns about z.

pub fn name(self) -> &'static str

Its name, as it serializes: pin_slot.

pub fn label(self) -> &'static str

pub fn doc(self) -> &'static str

What it does, in words, as the editor offers it.

Trait Implementations

impl Clone for Joint

fn clone(&self) -> Joint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Joint

impl Debug for Joint

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Joint

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Eq for Joint

impl Hash for Joint

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl PartialEq for Joint

fn eq(&self, other: &Joint) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for Joint

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for Joint