[−][src]Struct nphysics3d::joint::FixedConstraint
A constraint that removes all degrees of freedom between two body parts.
Methods
impl<N: RealField> FixedConstraint<N>[src]
pub fn new(
b1: BodyPartHandle,
b2: BodyPartHandle,
anchor1: Point<N>,
ref_frame1: Rotation<N>,
anchor2: Point<N>,
ref_frame2: Rotation<N>
) -> Self[src]
b1: BodyPartHandle,
b2: BodyPartHandle,
anchor1: Point<N>,
ref_frame1: Rotation<N>,
anchor2: Point<N>,
ref_frame2: Rotation<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_reference_frame_1(&mut self, ref_frame1: Rotation<N>)[src]
Changes the reference frame for the first body part.
pub fn set_reference_frame_2(&mut self, ref_frame2: Rotation<N>)[src]
Changes the reference frame for the second body part.
pub fn set_anchor_1(&mut self, anchor1: Point<N>)[src]
Changes the attached material point from the first body part.
pub fn set_anchor_2(&mut self, anchor2: Point<N>)[src]
Changes the attached material point from the second body part.
Trait Implementations
impl<N: RealField> JointConstraint<N> for FixedConstraint<N>[src]
fn num_velocity_constraints(&self) -> usize[src]
fn anchors(&self) -> (BodyPartHandle, BodyPartHandle)[src]
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>
)[src]
&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>
)
fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)[src]
fn is_active(&self, bodies: &BodySet<N>) -> bool[src]
Return true if the constraint is active. Read more
impl<N: RealField> NonlinearConstraintGenerator<N> for FixedConstraint<N>[src]
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>>
Auto Trait Implementations
impl<N> Send for FixedConstraint<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for FixedConstraint<N> where
N: Scalar,
N: Scalar,
Blanket Implementations
impl<T, U> Into for T where
U: From<T>, [src]
U: From<T>,
impl<T> From for T[src]
impl<T, U> TryFrom for T where
U: Into<T>, [src]
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>[src]
impl<T> Borrow for T where
T: ?Sized, [src]
T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized, [src]
T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized, [src]
T: ?Sized,
fn borrow_mut(&mut self) -> &mut T[src]
impl<T, U> TryInto for T where
U: TryFrom<T>, [src]
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>[src]
impl<T> Downcast for T where
T: Any, [src]
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>[src]
fn as_any(&self) -> &(dyn Any + 'static)[src]
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)[src]
impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>, [src]
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>[src]
fn is_in_subset(&self) -> bool[src]
unsafe fn to_subset_unchecked(&self) -> SS[src]
fn from_subset(element: &SS) -> SP[src]
impl<T> Same for T
type Output = T
Should always be Self