Struct nphysics2d::joint::PrismaticConstraint

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

A constraint that remove all be one translational degrees of freedom.

Methods

impl<N: Real> PrismaticConstraint<N>

pub fn new(     b1: BodyHandle,     b2: BodyHandle,     anchor1: Point<N>,     axis1: Unit<Vector<N>>,     anchor2: Point<N> ) -> Self

Create a new prismatic constraint that ensures the relative motion between the two body parts are restricted to a single translation along the axis1 axis (expressed in the local coordinates frame of b1).

pub fn min_offset(&self) -> Option<N>

The lower limit, if any, of the relative translation (along the joint axis) of the body parts attached to this joint.

pub fn max_offset(&self) -> Option<N>

The upper limit, if any, of the relative translation (along the joint axis) of the body parts attached to this joint.

pub fn disable_min_offset(&mut self)

Disable the lower limit of the relative translational motion along the joint axis.

pub fn disable_max_offset(&mut self)

Disable the upper limit of the relative translational motion along the joint axis.

pub fn enable_min_offset(&mut self, limit: N)

Enables the lower limit of the relative translational motion along the joint axis.

pub fn enable_max_offset(&mut self, limit: N)

Disable the lower limit of the relative translational motion along the joint axis.

Trait Implementations

impl<N: Real> JointConstraint<N> for PrismaticConstraint<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 PrismaticConstraint<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.