NonlinearUnilateralConstraint

nphysics2d::solver

Struct NonlinearUnilateralConstraint 

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pub struct NonlinearUnilateralConstraint<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> {
    pub r: N,
    pub rhs: N,
    pub ndofs1: usize,
    pub body1: BodyPartHandle<Handle>,
    pub collider1: CollHandle,
    pub ndofs2: usize,
    pub body2: BodyPartHandle<Handle>,
    pub collider2: CollHandle,
    pub kinematic: ContactKinematic<N>,
    pub normal1: Unit<Vector<N>>,
    pub normal2: Unit<Vector<N>>,
}
Expand description

A non-linear position-based non-penetration constraint.

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§r: N

The scaling parameter of the SOR-prox method.

§rhs: N

The target position change this constraint must apply.

§ndofs1: usize

Number of degree of freedom of the first body.

§body1: BodyPartHandle<Handle>

The first body affected by the constraint.

§collider1: CollHandle

The first collider affected by the constraint.

§ndofs2: usize

Number of degree of freedom of the second body.

§body2: BodyPartHandle<Handle>

The second body affected by the constraint.

§collider2: CollHandle

The second collider affected by the constraint.

§kinematic: ContactKinematic<N>

The kinematic information used to update the contact location.

§normal1: Unit<Vector<N>>

The contact normal on the local space of self.body1.

§normal2: Unit<Vector<N>>

The contact normal on the local space of self.body2.

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impl<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> NonlinearUnilateralConstraint<N, Handle, CollHandle>

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pub fn new( body1: BodyPartHandle<Handle>, collider1: CollHandle, ndofs1: usize, body2: BodyPartHandle<Handle>, collider2: CollHandle, ndofs2: usize, normal1: Unit<Vector<N>>, normal2: Unit<Vector<N>>, kinematic: ContactKinematic<N>, ) -> Self

Create a new nonlinear position-based non-penetration constraint.

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impl<N: Debug + RealField + Copy, Handle: Debug + BodyHandle, CollHandle: Debug + ColliderHandle> Debug for NonlinearUnilateralConstraint<N, Handle, CollHandle>

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

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl<N, Handle, CollHandle> Freeze for NonlinearUnilateralConstraint<N, Handle, CollHandle>
where N: Freeze, CollHandle: Freeze, Handle: Freeze,

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impl<N, Handle, CollHandle> RefUnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle>
where N: RefUnwindSafe, CollHandle: RefUnwindSafe, Handle: RefUnwindSafe,

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impl<N, Handle, CollHandle> Send for NonlinearUnilateralConstraint<N, Handle, CollHandle>

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impl<N, Handle, CollHandle> Sync for NonlinearUnilateralConstraint<N, Handle, CollHandle>

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impl<N, Handle, CollHandle> Unpin for NonlinearUnilateralConstraint<N, Handle, CollHandle>
where N: Unpin, CollHandle: Unpin, Handle: Unpin,

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impl<N, Handle, CollHandle> UnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle>
where N: UnwindSafe, CollHandle: UnwindSafe, Handle: UnwindSafe,

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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fn borrow_mut(&mut self) -> &mut T

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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fn into_either(self, into_left: bool) -> Either<Self, Self>

Converts self into a Left variant of Either<Self, Self> if into_left is true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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where F: FnOnce(&Self) -> bool,

Converts self into a Left variant of Either<Self, Self> if into_left(&self) returns true. Converts self into a Right variant of Either<Self, Self> otherwise. Read more
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fn to_subset(&self) -> Option<SS>

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Checks if self is actually part of its subset T (and can be converted to it).
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Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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