Struct nphysics3d::joint::CylindricalConstraint

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

A constraint that removes all degrees of freedom (of one body part relative to a second one) except one translation along an axis and one rotation along the same axis.

Methods

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

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

Creates a cartesian constraint between two body parts.

This will ensure axis1 and axis2 always coincide. All the axis and anchors are provided on the local space of the corresponding body parts.

Trait Implementations

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