Struct nphysics3d::joint::PinSlotConstraint

pub struct PinSlotConstraint<N: RealField, Handle: BodyHandle> { /* fields omitted */ }

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

This is different frmo the cylindrical constraint since the remaining rotation and translation are not restricted to be done wrt. the same axis.

Methods

impl<N: RealField, Handle: BodyHandle> PinSlotConstraint<N, Handle>

pub fn new(
    b1: BodyPartHandle<Handle>,
    b2: BodyPartHandle<Handle>,
    anchor1: Point<N>,
    axis_v1: Unit<Vector<N>>,
    axis_w1: Unit<Vector<N>>,
    anchor2: Point<N>,
    axis_w2: Unit<Vector<N>>
) -> Self

Creates a new pin-slot constraint.

This will ensure the relative linear motions are always along axis_v1 (here expressed in the local coordinate frame of b1), and that axis_w1 and axis_w2 always coincide. All axises and anchors are expressed in the local coordinate frame of their respective body part.

Trait Implementations

impl<N: RealField, Handle: BodyHandle, Bodies: BodySet<N, Handle = Handle>> JointConstraint<N, Bodies> for PinSlotConstraint<N, Handle>

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)

The two body parts affected by this joint.

fn velocity_constraints(
    &mut self,
    _: &IntegrationParameters<N>,
    bodies: &Bodies,
    ext_vels: &DVector<N>,
    ground_j_id: &mut usize,
    j_id: &mut usize,
    jacobians: &mut [N],
    constraints: &mut LinearConstraints<N, usize>
)

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses(&mut self, constraints: &LinearConstraints<N, usize>)

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

fn is_active(&self, bodies: &Bodies) -> bool

Return true if the constraint is active.

impl<N: RealField, Handle: BodyHandle, Bodies: BodySet<N, Handle = Handle>> NonlinearConstraintGenerator<N, Bodies> for PinSlotConstraint<N, Handle>

fn num_position_constraints(&self, bodies: &Bodies) -> usize

Maximum of non-linear position constraint this generator needs to output.

fn position_constraint(
    &self,
    parameters: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut Bodies,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>

Generate the i-th position constraint of this generator.