[−][src]Struct nphysics3d::object::MassConstraintSystem
A deformable surface using a mass-LengthConstraint model with triangular elements.
Methods
impl<N: RealField> MassConstraintSystem<N>
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pub fn from_trimesh(
handle: BodyHandle,
mesh: &TriMesh<N>,
mass: N,
stiffness: Option<N>
) -> Self
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handle: BodyHandle,
mesh: &TriMesh<N>,
mass: N,
stiffness: Option<N>
) -> Self
Creates a new deformable surface following the mass-LengthConstraint model.
The surface is initialized with a set of links corresponding to each trimesh edges.
pub fn from_polyline(
handle: BodyHandle,
polyline: &Polyline<N>,
mass: N,
stiffness: Option<N>
) -> Self
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handle: BodyHandle,
polyline: &Polyline<N>,
mass: N,
stiffness: Option<N>
) -> Self
Builds a mass-spring system from a polyline.
pub fn user_data(&self) -> Option<&(dyn Any + Send + Sync)>
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Retrieves a reference to the user-defined user-data attached to this object.
pub fn user_data_mut(&mut self) -> Option<&mut (dyn Any + Send + Sync)>
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Retrieves a mutable reference to the user-defined user-data attached to this object.
pub fn set_user_data(
&mut self,
data: Option<Box<dyn Any + Send + Sync>>
) -> Option<Box<dyn Any + Send + Sync>>
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&mut self,
data: Option<Box<dyn Any + Send + Sync>>
) -> Option<Box<dyn Any + Send + Sync>>
Sets the user-defined data attached to this object.
pub fn take_user_data(&mut self) -> Option<Box<dyn Any + Send + Sync>>
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Replace by None
the user-defined data attached to this object and returns the old value.
pub fn quad(
handle: BodyHandle,
transform: &Isometry<N>,
extents: &Vector2<N>,
nx: usize,
ny: usize,
mass: N,
stiffness: Option<N>
) -> Self
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handle: BodyHandle,
transform: &Isometry<N>,
extents: &Vector2<N>,
nx: usize,
ny: usize,
mass: N,
stiffness: Option<N>
) -> Self
Creates a rectangular-shaped quad.
pub fn add_constraint(
&mut self,
node1: usize,
node2: usize,
stiffness: Option<N>
)
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&mut self,
node1: usize,
node2: usize,
stiffness: Option<N>
)
Add one constraint to this mass-constraint system.
pub fn generate_neighbor_constraints(&mut self, stiffness: Option<N>)
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Generate additional constraints between nodes that are transitively neighbors.
Given three nodes a, b, c
, if a constraint exists between a
and b
, and between b
and c
,
then a constraint between a
and c
is created if it does not already exists.
pub fn num_nodes(&self) -> usize
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The number of nodes of this mass-constraint system.
pub fn handle(&self) -> BodyHandle
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The handle of this body.
pub fn mass(&self) -> N
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The total mass of this body.
pub fn set_warmstart_coefficient(&mut self, coeff: N)
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The coefficient used for warm-starting the resolution of internal constraints of this soft body (default: 0.5).
pub fn warmstart_coefficient(&self) -> N
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The coefficient used for warm-starting the resolution of internal constraints of this soft body (default: 0.5).
pub fn set_node_kinematic(&mut self, i: usize, is_kinematic: bool)
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Restrict the specified node acceleration to always be zero so it can be controlled manually by the user at the velocity level.
pub fn clear_kinematic_nodes(&mut self)
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Mark all nodes as non-kinematic.
pub fn set_plasticity(&mut self, strain_threshold: N, creep: N, max_force: N)
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Sets the plastic properties of this mass-constraint system.
Trait Implementations
impl<N: RealField> Body<N> for MassConstraintSystem<N>
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fn name(&self) -> &str
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fn set_name(&mut self, name: String)
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fn gravity_enabled(&self) -> bool
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fn enable_gravity(&mut self, enabled: bool)
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fn update_kinematics(&mut self)
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fn update_dynamics(&mut self, _: N)
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fn update_acceleration(
&mut self,
gravity: &Vector<N>,
params: &IntegrationParameters<N>
)
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&mut self,
gravity: &Vector<N>,
params: &IntegrationParameters<N>
)
fn clear_forces(&mut self)
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fn apply_displacement(&mut self, disp: &[N])
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fn handle(&self) -> BodyHandle
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fn status(&self) -> BodyStatus
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fn set_status(&mut self, status: BodyStatus)
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fn clear_update_flags(&mut self)
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fn update_status(&self) -> BodyUpdateStatus
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fn activation_status(&self) -> &ActivationStatus<N>
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fn set_deactivation_threshold(&mut self, threshold: Option<N>)
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fn ndofs(&self) -> usize
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fn generalized_acceleration(&self) -> DVectorSlice<N>
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fn generalized_velocity(&self) -> DVectorSlice<N>
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fn companion_id(&self) -> usize
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fn set_companion_id(&mut self, id: usize)
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fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<N>
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fn integrate(&mut self, params: &IntegrationParameters<N>)
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fn activate_with_energy(&mut self, energy: N)
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fn deactivate(&mut self)
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fn part(&self, id: usize) -> Option<&dyn BodyPart<N>>
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fn deformed_positions(&self) -> Option<(DeformationsType, &[N])>
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fn deformed_positions_mut(&mut self) -> Option<(DeformationsType, &mut [N])>
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fn world_point_at_material_point(
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
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&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
fn position_at_material_point(
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Isometry<N>
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&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Isometry<N>
fn material_point_at_world_point(
&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
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&self,
part: &dyn BodyPart<N>,
point: &Point<N>
) -> Point<N>
fn fill_constraint_geometry(
&self,
part: &dyn BodyPart<N>,
_: usize,
center: &Point<N>,
force_dir: &ForceDirection<N>,
j_id: usize,
wj_id: usize,
jacobians: &mut [N],
inv_r: &mut N,
ext_vels: Option<&DVectorSlice<N>>,
out_vel: Option<&mut N>
)
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&self,
part: &dyn BodyPart<N>,
_: usize,
center: &Point<N>,
force_dir: &ForceDirection<N>,
j_id: usize,
wj_id: usize,
jacobians: &mut [N],
inv_r: &mut N,
ext_vels: Option<&DVectorSlice<N>>,
out_vel: Option<&mut N>
)
fn has_active_internal_constraints(&mut self) -> bool
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fn setup_internal_velocity_constraints(
&mut self,
_: &DVectorSlice<N>,
_: &IntegrationParameters<N>
)
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&mut self,
_: &DVectorSlice<N>,
_: &IntegrationParameters<N>
)
fn warmstart_internal_velocity_constraints(
&mut self,
dvels: &mut DVectorSliceMut<N>
)
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&mut self,
dvels: &mut DVectorSliceMut<N>
)
fn step_solve_internal_velocity_constraints(
&mut self,
dvels: &mut DVectorSliceMut<N>
)
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&mut self,
dvels: &mut DVectorSliceMut<N>
)
fn step_solve_internal_position_constraints(
&mut self,
params: &IntegrationParameters<N>
)
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&mut self,
params: &IntegrationParameters<N>
)
fn apply_force_at_local_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
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&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_force(
&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
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&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_local_force(
&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
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&mut self,
part_id: usize,
force: &Force<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_force_at_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
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&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_local_force_at_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
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&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn apply_local_force_at_local_point(
&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
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&mut self,
part_id: usize,
force: &Vector<N>,
point: &Point<N>,
force_type: ForceType,
auto_wake_up: bool
)
fn is_ground(&self) -> bool
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Returns true
if this body is the ground.
fn update_activation_status(&mut self)
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Update whether this body needs to be waken up after a user-interaction.
fn add_local_inertia_and_com(
&mut self,
_part_index: usize,
_com: Point<N>,
_inertia: Inertia<N>
)
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&mut self,
_part_index: usize,
_com: Point<N>,
_inertia: Inertia<N>
)
Add the given inertia to the local inertia of this body part.
fn status_dependent_ndofs(&self) -> usize
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The number of degrees of freedom (DOF) of this body, taking its status into account. Read more
fn status_dependent_body_part_velocity(
&self,
part: &dyn BodyPart<N>
) -> Velocity<N>
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&self,
part: &dyn BodyPart<N>
) -> Velocity<N>
The velocity of the specified body part, taking this body status into account. Read more
fn is_active(&self) -> bool
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Check if this body is active.
fn is_dynamic(&self) -> bool
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Whether or not the status of this body is dynamic.
fn is_kinematic(&self) -> bool
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Whether or not the status of this body is kinematic.
fn is_static(&self) -> bool
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Whether or not the status of this body is static.
fn activate(&mut self)
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Force the activation of this body.
Auto Trait Implementations
impl<N> Send for MassConstraintSystem<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for MassConstraintSystem<N> where
N: Scalar,
N: Scalar,
Blanket Implementations
impl<T, U> Into for T where
U: From<T>,
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U: From<T>,
impl<T> From for T
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impl<T, U> TryFrom for T where
U: Into<T>,
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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>
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impl<T> Borrow for T where
T: ?Sized,
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T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T, U> TryInto for T where
U: TryFrom<T>,
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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>
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impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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unsafe fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> Same for T
type Output = T
Should always be Self