[−][src]Trait nphysics3d::joint::JointConstraint

pub trait JointConstraint<N: RealField>: NonlinearConstraintGenerator<N> + Downcast + Send + Sync {
    fn num_velocity_constraints(&self) -> usize;

    fn anchors(&self) -> (BodyPartHandle, BodyPartHandle);

    fn velocity_constraints(
        &mut self, 
        params: &IntegrationParameters<N>, 
        bodies: &BodySet<N>, 
        ext_vels: &DVector<N>, 
        ground_j_id: &mut usize, 
        j_id: &mut usize, 
        jacobians: &mut [N], 
        velocity_constraints: &mut ConstraintSet<N>
    );

    fn cache_impulses(&mut self, constraints: &ConstraintSet<N>);

    fn is_active(&self, bodies: &BodySet<N>) -> bool { ... }
}

Trait implemented by joint that operate by generating constraints to restrict the relative motion of two body parts.

Required methods

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyPartHandle, BodyPartHandle)

The two body parts affected by this joint.

fn velocity_constraints(
    &mut self,
    params: &IntegrationParameters<N>,
    bodies: &BodySet<N>,
    ext_vels: &DVector<N>,
    ground_j_id: &mut usize,
    j_id: &mut usize,
    jacobians: &mut [N],
    velocity_constraints: &mut ConstraintSet<N>
)

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

Loading content...

Provided methods

fn is_active(&self, bodies: &BodySet<N>) -> bool

Return true if the constraint is active.

Typically, a constraint is disable if it is between two sleeping bodies, or, between bodies without any degrees of freedom.

Loading content...

Methods

impl<N> dyn JointConstraint<N> where
    N: Any + 'static,
    N: RealField, 

pub fn is<__T: JointConstraint<N>>(&self) -> bool

Returns true if the trait object wraps an object of type __T.

pub fn downcast<__T: JointConstraint<N>>(
    self: Box<Self>
) -> Result<Box<__T>, Box<Self>>

Returns a boxed object from a boxed trait object if the underlying object is of type __T. Returns the original boxed trait if it isn't.

pub fn downcast_ref<__T: JointConstraint<N>>(&self) -> Option<&__T>

Returns a reference to the object within the trait object if it is of type __T, or None if it isn't.

pub fn downcast_mut<__T: JointConstraint<N>>(&mut self) -> Option<&mut __T>

Returns a mutable reference to the object within the trait object if it is of type __T, or None if it isn't.

Implementors

impl<N: RealField> JointConstraint<N> for BallConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for CartesianConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for CylindricalConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for FixedConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for MouseConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for PinSlotConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for PlanarConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for PrismaticConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for RectangularConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for RevoluteConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

impl<N: RealField> JointConstraint<N> for UniversalConstraint<N>[src]

fn is_active(&self, bodies: &BodySet<N>) -> bool[src]

Loading content...