Struct nphysics3d::joint::RevoluteConstraint

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

A constraint that removes all relative motions except one rotation between two body parts.

Methods

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

pub fn new(
    b1: BodyPartHandle<Handle>,
    b2: BodyPartHandle<Handle>,
    anchor1: Point<N>,
    axis1: Unit<AngularVector<N>>,
    anchor2: Point<N>,
    axis2: Unit<AngularVector<N>>
) -> Self

Create a new revolute constraint which ensures the provided axii and anchors always coincide.

All axii and achors are expressed in the local coordinate system of the corresponding body parts.

Trait Implementations

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