[−][src]Trait nphysics3d::solver::NonlinearConstraintGenerator
Implemented by structures that generate non-linear constraints.
Required methods
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>>
&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.
Implementors
impl<N: RealField> NonlinearConstraintGenerator<N> for BallConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
_: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
_: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for CartesianConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
_: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
_: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for CylindricalConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for FixedConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for MouseConstraint<N>
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fn num_position_constraints(&self, _: &BodySet<N>) -> usize
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fn position_constraint(
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut BodySet<N>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut BodySet<N>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for PinSlotConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for PlanarConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for PrismaticConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for RectangularConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for RevoluteConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
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fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for UniversalConstraint<N>
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fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize
[src]
fn position_constraint(
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
params: &IntegrationParameters<N>,
i: usize,
bodies: &mut BodySet<N>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
impl<N: RealField> NonlinearConstraintGenerator<N> for MultibodyJointLimitsNonlinearConstraintGenerator
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fn num_position_constraints(&self, _: &BodySet<N>) -> usize
[src]
fn position_constraint(
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut BodySet<N>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>
[src]
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut BodySet<N>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>