Struct UnilateralConstraint

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pub struct UnilateralConstraint<N: RealField + Copy, Id> {
    pub impulse: N,
    pub r: N,
    pub rhs: N,
    pub impulse_id: Id,
    pub assembly_id1: usize,
    pub assembly_id2: usize,
    pub j_id1: usize,
    pub j_id2: usize,
    pub wj_id1: usize,
    pub wj_id2: usize,
    pub ndofs1: usize,
    pub ndofs2: usize,
}

Expand description

A unilateral (inequality) consraint.

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§impulse: N

The impulse applied by this constraint.

§r: N

The scaling parameter of the SOR-prox method.

§rhs: N

The target velocity change this constraint must apply.

§impulse_id: Id

The index of the impulse used for its storage in an impuse cache.

§assembly_id1: usize

The assembly index of the first body.

§assembly_id2: usize

The assembly index of the second body.

§j_id1: usize

Index of the first entry of the jacobian of the constraint affecting the first body.

§j_id2: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.

§wj_id1: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body.

§wj_id2: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.

§ndofs1: usize

Number of degree of freedom of the first body.

§ndofs2: usize

Number of degree of freedom of the second body.

Implementations§

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impl<N: RealField + Copy, Id> UnilateralConstraint<N, Id>

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pub fn new( geom: ConstraintGeometry<N>, assembly_id1: usize, assembly_id2: usize, rhs: N, impulse: N, impulse_id: Id, ) -> Self

Create a new unilateral constraint.

Auto Trait Implementations§

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impl<N, Id> Freeze for UnilateralConstraint<N, Id>
where N: Freeze, Id: Freeze,

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impl<N, Id> RefUnwindSafe for UnilateralConstraint<N, Id>
where N: RefUnwindSafe, Id: RefUnwindSafe,

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impl<N, Id> UnwindSafe for UnilateralConstraint<N, Id>
where N: UnwindSafe, Id: UnwindSafe,

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impl<T> Any for T
where T: 'static + ?Sized,

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Calls U::from(self).

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