Skip to main content

Constraint

embedded_3dgfx::physics

Enum Constraint

pub enum Constraint {
    Distance {
        body_a: BodyId,
        body_b: BodyId,
        anchor_a: Vector3<f32>,
        anchor_b: Vector3<f32>,
        rest_length: f32,
        compliance: f32,
    },
    BallSocket {
        body_a: BodyId,
        body_b: BodyId,
        anchor_a: Vector3<f32>,
        anchor_b: Vector3<f32>,
        compliance: f32,
    },
    Fixed {
        body_a: BodyId,
        body_b: BodyId,
        anchor_a: Vector3<f32>,
        anchor_b: Vector3<f32>,
        relative_orientation: UnitQuaternion<f32>,
        compliance: f32,
    },
}

Expand description

A constraint (joint) between two bodies.

Constraints restrict the relative motion of bodies. Each variant stores body-local anchor points so the constraint follows the bodies as they move and rotate.

Variants§

Distance

Keeps two anchor points at a fixed distance (like a rigid rod).

rest_length = 0: the anchors are pinned together (point-to-point).
compliance > 0: soft spring-like behaviour (higher = softer).

Fields

§body_a: BodyId

§body_b: BodyId

§anchor_a: Vector3<f32>

Anchor offset in body A’s local space.

§anchor_b: Vector3<f32>

Anchor offset in body B’s local space.

§rest_length: f32

Target distance between the two anchor points.

§compliance: f32

Compliance (inverse stiffness). 0.0 = perfectly rigid.

BallSocket

Ball-socket joint: constrains two body-local points to coincide.

Equivalent to a distance constraint with rest_length = 0, but named for clarity.

Fields

§body_a: BodyId

§body_b: BodyId

§anchor_a: Vector3<f32>

Anchor offset in body A’s local space.

§anchor_b: Vector3<f32>

Anchor offset in body B’s local space.

§compliance: f32

Compliance (inverse stiffness). 0.0 = perfectly rigid.

Fixed

Fixed (weld) joint: locks relative position and orientation.

Stores the initial relative orientation so it can be enforced.

Fields

§body_a: BodyId

§body_b: BodyId

§anchor_a: Vector3<f32>

Anchor offset in body A’s local space.

§anchor_b: Vector3<f32>

Anchor offset in body B’s local space.

§relative_orientation: UnitQuaternion<f32>

Target relative orientation: q_b * q_a⁻¹ at rest.

§compliance: f32

Compliance (inverse stiffness). 0.0 = perfectly rigid.

Trait Implementations§

impl Clone for Constraint

fn clone(&self) -> Constraint

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl Debug for Constraint

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

Auto Trait Implementations§

impl Freeze for Constraint

impl RefUnwindSafe for Constraint

impl Send for Constraint

impl Sync for Constraint

impl Unpin for Constraint

impl UnsafeUnpin for Constraint

impl UnwindSafe for Constraint

Blanket Implementations§

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

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Az for T

fn az<Dst>(self) -> Dst
where T: Cast<Dst>,

Casts the value.

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<Src, Dst> CastFrom<Src> for Dst
where Src: Cast<Dst>,

fn cast_from(src: Src) -> Dst

Casts the value.

impl<T> CheckedAs for T

fn checked_as<Dst>(self) -> Option<Dst>
where T: CheckedCast<Dst>,

Casts the value.

impl<Src, Dst> CheckedCastFrom<Src> for Dst
where Src: CheckedCast<Dst>,

fn checked_cast_from(src: Src) -> Option<Dst>

Casts the value.

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> OverflowingAs for T

fn overflowing_as<Dst>(self) -> (Dst, bool)
where T: OverflowingCast<Dst>,

Casts the value.

impl<Src, Dst> OverflowingCastFrom<Src> for Dst
where Src: OverflowingCast<Dst>,

fn overflowing_cast_from(src: Src) -> (Dst, bool)

Casts the value.

impl<T> Same for T

type Output = T

Should always be Self

impl<T> SaturatingAs for T

fn saturating_as<Dst>(self) -> Dst
where T: SaturatingCast<Dst>,

Casts the value.

impl<Src, Dst> SaturatingCastFrom<Src> for Dst
where Src: SaturatingCast<Dst>,

fn saturating_cast_from(src: Src) -> Dst

Casts the value.

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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

Checks if self is actually part of its subset T (and can be converted to it).

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

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where 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>

Performs the conversion.

impl<T, U> TryInto<U> for T
where 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>

Performs the conversion.

impl<T> UnwrappedAs for T

fn unwrapped_as<Dst>(self) -> Dst
where T: UnwrappedCast<Dst>,

Casts the value.

impl<Src, Dst> UnwrappedCastFrom<Src> for Dst
where Src: UnwrappedCast<Dst>,

fn unwrapped_cast_from(src: Src) -> Dst

Casts the value.

impl<T> WrappingAs for T

fn wrapping_as<Dst>(self) -> Dst
where T: WrappingCast<Dst>,

Casts the value.

impl<Src, Dst> WrappingCastFrom<Src> for Dst
where Src: WrappingCast<Dst>,

fn wrapping_cast_from(src: Src) -> Dst

Casts the value.