[−][src]Struct nphysics3d::joint::FixedConstraint
A constraint that removes all degrees of freedom between two body parts.
Methods
impl<N: RealField, Handle: BodyHandle> FixedConstraint<N, Handle>
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pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
ref_frame1: Rotation<N>,
anchor2: Point<N>,
ref_frame2: Rotation<N>
) -> Self
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b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
ref_frame1: Rotation<N>,
anchor2: Point<N>,
ref_frame2: Rotation<N>
) -> Self
Create a fixed constraint between two body parts.
This will ensure the frames joint_to_b1
and joint_to_b2
attached to the
body parts b1
adn b2
respectively always coincide.
pub fn set_reference_frame_1(&mut self, ref_frame1: Rotation<N>)
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Changes the reference frame for the first body part.
pub fn set_reference_frame_2(&mut self, ref_frame2: Rotation<N>)
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Changes the reference frame for the second body part.
pub fn set_anchor_1(&mut self, anchor1: Point<N>)
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Changes the attached material point from the first body part.
pub fn set_anchor_2(&mut self, anchor2: Point<N>)
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Changes the attached material point from the second body part.
Trait Implementations
impl<N: RealField, Handle: BodyHandle, Bodies: BodySet<N, Handle = Handle>> JointConstraint<N, Bodies> for FixedConstraint<N, Handle>
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fn num_velocity_constraints(&self) -> usize
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fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)
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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>
)
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&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>
)
fn cache_impulses(&mut self, constraints: &LinearConstraints<N, usize>)
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fn is_active(&self, bodies: &Bodies) -> bool
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Return true
if the constraint is active. Read more
impl<N: RealField, Handle: BodyHandle, Bodies: BodySet<N, Handle = Handle>> NonlinearConstraintGenerator<N, Bodies> for FixedConstraint<N, Handle>
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fn num_position_constraints(&self, bodies: &Bodies) -> usize
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fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut Bodies,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
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&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut Bodies,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
Auto Trait Implementations
impl<N, Handle> Unpin for FixedConstraint<N, Handle> where
Handle: Unpin,
N: Scalar + Unpin,
Handle: Unpin,
N: Scalar + Unpin,
impl<N, Handle> Send for FixedConstraint<N, Handle> where
N: Scalar,
N: Scalar,
impl<N, Handle> Sync for FixedConstraint<N, Handle> where
N: Scalar,
N: Scalar,
impl<N, Handle> UnwindSafe for FixedConstraint<N, Handle> where
Handle: UnwindSafe,
N: Scalar + UnwindSafe,
Handle: UnwindSafe,
N: Scalar + UnwindSafe,
impl<N, Handle> RefUnwindSafe for FixedConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe + Scalar,
Handle: RefUnwindSafe,
N: RefUnwindSafe + Scalar,
Blanket Implementations
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,