[−][src]Struct nphysics3d::joint::RectangularConstraint
A constraint that remove all relative rotations and one relative translation between two body parts.
Methods
impl<N: RealField> RectangularConstraint<N>[src]
pub fn new(
b1: BodyPartHandle,
b2: BodyPartHandle,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>
) -> Self[src]
b1: BodyPartHandle,
b2: BodyPartHandle,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>
) -> Self
Create a new rectangular constraint that restrict b1 and b2 to move on a plane orthogonal to axis1.
The axis1 is expressed in the local coordinate system of b1.
Both anchors are expressed in the local coordinate system of their respective bodies.
Trait Implementations
impl<N: RealField> JointConstraint<N> for RectangularConstraint<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 RectangularConstraint<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 RectangularConstraint<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for RectangularConstraint<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