Struct nphysics2d::joint::FixedConstraint

pub struct FixedConstraint<N: Real> { /* fields omitted */ }

A constraint that removes all degrees of freedom between two body parts.

Methods

impl<N: Real> FixedConstraint<N>

pub fn new(     b1: BodyHandle,     b2: BodyHandle,     joint_to_b1: Isometry<N>,     joint_to_b2: Isometry<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_anchor_1(&mut self, local1: Isometry<N>)

Changes the frame attached to the first body part.

pub fn set_anchor_2(&mut self, local2: Isometry<N>)

Changes the frame attached to the second body part.

Trait Implementations

impl<N: Real> JointConstraint<N> for FixedConstraint<N>

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyHandle, BodyHandle)

The two body parts affected by this joint.

fn velocity_constraints(     &mut self,     _: &IntegrationParameters<N>,     bodies: &BodySet<N>,     ext_vels: &DVector<N>,     ground_j_id: &mut usize,     j_id: &mut usize,     jacobians: &mut [N],     constraints: &mut ConstraintSet<N> )

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

fn is_active(&self, bodies: &BodySet<N>) -> bool

Return true if the constraint is active.

impl<N: Real> NonlinearConstraintGenerator<N> for FixedConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

Maximum of non-linear position constraint this generater needs to output.

fn position_constraint(     &self,     params: &IntegrationParameters<N>,     i: usize,     bodies: &mut BodySet<N>,     jacobians: &mut [N] ) -> Option<GenericNonlinearConstraint<N>>

Generate the i-th position constraint of this generator.