pub struct GenericNonlinearConstraint<N, Handle>where
N: RealField + Copy,
Handle: BodyHandle,{
pub body1: BodyPartHandle<Handle>,
pub body2: Option<BodyPartHandle<Handle>>,
pub is_angular: bool,
pub dim1: usize,
pub dim2: usize,
pub wj_id1: usize,
pub wj_id2: usize,
pub rhs: N,
pub r: N,
}
Expand description
A generic non-linear position constraint.
Fields§
§body1: BodyPartHandle<Handle>
The first body affected by the constraint.
body2: Option<BodyPartHandle<Handle>>
The second body affected by the constraint.
is_angular: bool
Whether this constraint affects the bodies translation or orientation.
dim1: usize
Number of degree of freedom of the first body.
dim2: usize
Number of degree of freedom 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.
rhs: N
The target position change this constraint must apply.
r: N
The scaling parameter of the SOR-prox method.
Implementations§
source§impl<N, Handle> GenericNonlinearConstraint<N, Handle>where
N: RealField + Copy,
Handle: BodyHandle,
impl<N, Handle> GenericNonlinearConstraint<N, Handle>where N: RealField + Copy, Handle: BodyHandle,
sourcepub fn new(
body1: BodyPartHandle<Handle>,
body2: Option<BodyPartHandle<Handle>>,
is_angular: bool,
dim1: usize,
dim2: usize,
wj_id1: usize,
wj_id2: usize,
rhs: N,
r: N
) -> GenericNonlinearConstraint<N, Handle>
pub fn new( body1: BodyPartHandle<Handle>, body2: Option<BodyPartHandle<Handle>>, is_angular: bool, dim1: usize, dim2: usize, wj_id1: usize, wj_id2: usize, rhs: N, r: N ) -> GenericNonlinearConstraint<N, Handle>
Initialize a new nonlinear constraint.
Auto Trait Implementations§
impl<N, Handle> RefUnwindSafe for GenericNonlinearConstraint<N, Handle>where Handle: RefUnwindSafe, N: RefUnwindSafe,
impl<N, Handle> Send for GenericNonlinearConstraint<N, Handle>
impl<N, Handle> Sync for GenericNonlinearConstraint<N, Handle>
impl<N, Handle> Unpin for GenericNonlinearConstraint<N, Handle>where Handle: Unpin, N: Unpin,
impl<N, Handle> UnwindSafe for GenericNonlinearConstraint<N, Handle>where Handle: UnwindSafe, N: UnwindSafe,
Blanket Implementations§
source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere T: ?Sized,
source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
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§impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere T: Any,
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(where Trait: Downcast
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can
then be further downcast
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’s.§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere SS: SubsetOf<SP>,
§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self
from the equivalent element of its
superset. Read more§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
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self
is actually part of its subset T
(and can be converted to it).§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset
but without any property checks. Always succeeds.§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self
to the equivalent element of its superset.