[−][src]Struct nphysics3d::joint::PinSlotConstraint
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>
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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
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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>
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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 PinSlotConstraint<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 PinSlotConstraint<N, Handle> where
Handle: Unpin,
N: Scalar + Unpin,
Handle: Unpin,
N: Scalar + Unpin,
impl<N, Handle> Send for PinSlotConstraint<N, Handle> where
N: Scalar,
N: Scalar,
impl<N, Handle> Sync for PinSlotConstraint<N, Handle> where
N: Scalar,
N: Scalar,
impl<N, Handle> UnwindSafe for PinSlotConstraint<N, Handle> where
Handle: UnwindSafe,
N: Scalar + UnwindSafe,
Handle: UnwindSafe,
N: Scalar + UnwindSafe,
impl<N, Handle> RefUnwindSafe for PinSlotConstraint<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>,