[−][src]Struct nphysics3d::solver::UnilateralGroundConstraint
A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom.
Fields
impulse: N
The impulse applied by the constraint.
r: N
The scaling parameter used by the SOR-prox method.
rhs: N
The target velocity change this constraint must apply.
impulse_id: usize
The index of the impulse used for its storage in an impuse cache.
assembly_id: usize
The assembly index of the dynamic body.
j_id: usize
Index of the first entry of the jacobian of the constraint affecting the dynamic body.
wj_id: usize
Index of the first entry of the constraint jacobian multiplied by the inverse mass of the dynamic body.
ndofs: usize
Number of degree of freedom of the dynamic body.
Methods
impl<N: RealField> UnilateralGroundConstraint<N>
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pub fn new(
geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
rhs: N,
impulse: N,
impulse_id: usize
) -> Self
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geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
rhs: N,
impulse: N,
impulse_id: usize
) -> Self
Create a new unilateral ground constraint.
Auto Trait Implementations
impl<N> Send for UnilateralGroundConstraint<N>
impl<N> Sync for UnilateralGroundConstraint<N>
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