Struct nphysics3d::object::MassConstraintSystem

pub struct MassConstraintSystem<N: RealField> { /* fields omitted */ }

A deformable surface using a mass-LengthConstraint model with triangular elements.

Methods

impl<N: RealField> MassConstraintSystem<N>

pub fn from_trimesh(
    handle: BodyHandle,
    mesh: &TriMesh<N>,
    mass: N,
    stiffness: Option<N>
) -> Self

Creates a new deformable surface following the mass-LengthConstraint model.

The surface is initialized with a set of links corresponding to each trimesh edges.

pub fn from_polyline(
    handle: BodyHandle,
    polyline: &Polyline<N>,
    mass: N,
    stiffness: Option<N>
) -> Self

Builds a mass-spring system from a polyline.

pub fn user_data(&self) -> Option<&(dyn Any + Send + Sync)>

Retrieves a reference to the user-defined user-data attached to this object.

pub fn user_data_mut(&mut self) -> Option<&mut (dyn Any + Send + Sync)>

Retrieves a mutable reference to the user-defined user-data attached to this object.

pub fn set_user_data(
    &mut self,
    data: Option<Box<dyn Any + Send + Sync>>
) -> Option<Box<dyn Any + Send + Sync>>

Sets the user-defined data attached to this object.

pub fn take_user_data(&mut self) -> Option<Box<dyn Any + Send + Sync>>

Replace by None the user-defined data attached to this object and returns the old value.

pub fn quad(
    handle: BodyHandle,
    transform: &Isometry<N>,
    extents: &Vector2<N>,
    nx: usize,
    ny: usize,
    mass: N,
    stiffness: Option<N>
) -> Self

Creates a rectangular-shaped quad.

pub fn add_constraint(
    &mut self,
    node1: usize,
    node2: usize,
    stiffness: Option<N>
)

Add one constraint to this mass-constraint system.

pub fn generate_neighbor_constraints(&mut self, stiffness: Option<N>)

Generate additional constraints between nodes that are transitively neighbors.

Given three nodes a, b, c, if a constraint exists between a and b, and between b and c, then a constraint between a and c is created if it does not already exists.

pub fn num_nodes(&self) -> usize

The number of nodes of this mass-constraint system.

pub fn handle(&self) -> BodyHandle

The handle of this body.

pub fn mass(&self) -> N

The total mass of this body.

pub fn set_warmstart_coefficient(&mut self, coeff: N)

The coefficient used for warm-starting the resolution of internal constraints of this soft body (default: 0.5).

pub fn warmstart_coefficient(&self) -> N

The coefficient used for warm-starting the resolution of internal constraints of this soft body (default: 0.5).

pub fn set_node_kinematic(&mut self, i: usize, is_kinematic: bool)

Restrict the specified node acceleration to always be zero so it can be controlled manually by the user at the velocity level.

pub fn clear_kinematic_nodes(&mut self)

Mark all nodes as non-kinematic.

pub fn set_plasticity(&mut self, strain_threshold: N, creep: N, max_force: N)

Sets the plastic properties of this mass-constraint system.

Trait Implementations

impl<N: RealField> Body<N> for MassConstraintSystem<N>

fn name(&self) -> &str

The name of this body.

fn set_name(&mut self, name: String)

Sets the name of this body.

fn gravity_enabled(&self) -> bool

Whether this body is affected by gravity.

fn enable_gravity(&mut self, enabled: bool)

Enable or disable gravity for this body.

fn update_kinematics(&mut self)

Updates the kinematics, e.g., positions and jacobians, of this body.

fn update_dynamics(&mut self, _: N)

Update the dynamics property of this body.

fn update_acceleration(
    &mut self,
    gravity: &Vector<N>,
    params: &IntegrationParameters<N>
)

Update the acceleration of this body given the forces it is subject to and the gravity.

fn clear_forces(&mut self)

Reset the timestep-specific dynamic information of this body.

fn apply_displacement(&mut self, disp: &[N])

Applies a generalized displacement to this body.

fn handle(&self) -> BodyHandle

The handle of this body.

fn status(&self) -> BodyStatus

The status of this body.

fn set_status(&mut self, status: BodyStatus)

Set the status of this body.

fn clear_update_flags(&mut self)

Clear all the update flags of this body.

fn update_status(&self) -> BodyUpdateStatus

The flags tracking what modifications were applied to a body.

fn activation_status(&self) -> &ActivationStatus<N>

Information regarding activation and deactivation (sleeping) of this body.

fn set_deactivation_threshold(&mut self, threshold: Option<N>)

Sets the energy bellow which this body is put to sleep.

fn ndofs(&self) -> usize

The number of degrees of freedom of this body.

fn generalized_acceleration(&self) -> DVectorSlice<N>

The generalized accelerations at each degree of freedom of this body.

fn generalized_velocity(&self) -> DVectorSlice<N>

The generalized velocities of this body.

fn companion_id(&self) -> usize

The companion ID of this body.

fn set_companion_id(&mut self, id: usize)

Set the companion ID of this body (may be reinitialized by nphysics).

fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<N>

The mutable generalized velocities of this body.

fn integrate(&mut self, params: &IntegrationParameters<N>)

Integrate the position of this body.

fn activate_with_energy(&mut self, energy: N)

Force the activation of this body with the given level of energy.

fn deactivate(&mut self)

Put this body to sleep.

fn part(&self, id: usize) -> Option<&dyn BodyPart<N>>

A reference to the specified body part.

fn deformed_positions(&self) -> Option<(DeformationsType, &[N])>

If this is a deformable body, returns its deformed positions.

fn deformed_positions_mut(&mut self) -> Option<(DeformationsType, &mut [N])>

If this is a deformable body, returns a mutable reference to its deformed positions.

fn world_point_at_material_point(
    &self,
    part: &dyn BodyPart<N>,
    point: &Point<N>
) -> Point<N>

Transform the given point expressed in material coordinates to world-space.

fn position_at_material_point(
    &self,
    part: &dyn BodyPart<N>,
    point: &Point<N>
) -> Isometry<N>

Transform the given point expressed in material coordinates to world-space.

fn material_point_at_world_point(
    &self,
    part: &dyn BodyPart<N>,
    point: &Point<N>
) -> Point<N>

Transform the given point expressed in material coordinates to world-space.

fn fill_constraint_geometry(
    &self,
    part: &dyn BodyPart<N>,
    _: usize,
    center: &Point<N>,
    force_dir: &ForceDirection<N>,
    j_id: usize,
    wj_id: usize,
    jacobians: &mut [N],
    inv_r: &mut N,
    ext_vels: Option<&DVectorSlice<N>>,
    out_vel: Option<&mut N>
)

Fills all the jacobians (and the jacobians multiplied by the inverse augmented mass matrix) for a constraint applying a force at the point center (relative to the body part's center of mass) and the direction dir.

fn has_active_internal_constraints(&mut self) -> bool

Returns true if this bodies contains internal constraints that need to be solved.

fn setup_internal_velocity_constraints(
    &mut self,
    _: &DVectorSlice<N>,
    _: &IntegrationParameters<N>
)

Initializes the internal velocity constraints of a body.

fn warmstart_internal_velocity_constraints(
    &mut self,
    dvels: &mut DVectorSliceMut<N>
)

For warmstarting the solver, modifies the delta velocity applied by the internal constraints of this body.

fn step_solve_internal_velocity_constraints(
    &mut self,
    dvels: &mut DVectorSliceMut<N>
)

Execute one step for the iterative resolution of this body's internal velocity constraints.

fn step_solve_internal_position_constraints(
    &mut self,
    params: &IntegrationParameters<N>
)

Execute one step for the iterative resolution of this body's internal position constraints.

fn apply_force_at_local_point(
    &mut self,
    part_id: usize,
    force: &Vector<N>,
    point: &Point<N>,
    force_type: ForceType,
    auto_wake_up: bool
)

Apply a force at a given local point of a part of this body.

fn apply_force(
    &mut self,
    part_id: usize,
    force: &Force<N>,
    force_type: ForceType,
    auto_wake_up: bool
)

Apply a force at the center of mass of a part of this body.

fn apply_local_force(
    &mut self,
    part_id: usize,
    force: &Force<N>,
    force_type: ForceType,
    auto_wake_up: bool
)

Apply a local force at the center of mass of a part of this body.

fn apply_force_at_point(
    &mut self,
    part_id: usize,
    force: &Vector<N>,
    point: &Point<N>,
    force_type: ForceType,
    auto_wake_up: bool
)

Apply a force at a given point of a part of this body.

fn apply_local_force_at_point(
    &mut self,
    part_id: usize,
    force: &Vector<N>,
    point: &Point<N>,
    force_type: ForceType,
    auto_wake_up: bool
)

Apply a local force at a given point of a part of this body.

fn apply_local_force_at_local_point(
    &mut self,
    part_id: usize,
    force: &Vector<N>,
    point: &Point<N>,
    force_type: ForceType,
    auto_wake_up: bool
)

Apply a local force at a given local point of a part of this body.

fn is_ground(&self) -> bool

Returns true if this body is the ground.

fn update_activation_status(&mut self)

Update whether this body needs to be waken up after a user-interaction.

fn add_local_inertia_and_com(
    &mut self,
    _part_index: usize,
    _com: Point<N>,
    _inertia: Inertia<N>
)

Add the given inertia to the local inertia of this body part.

fn status_dependent_ndofs(&self) -> usize

The number of degrees of freedom (DOF) of this body, taking its status into account.

fn status_dependent_body_part_velocity(
    &self,
    part: &dyn BodyPart<N>
) -> Velocity<N>

The velocity of the specified body part, taking this body status into account.

fn is_active(&self) -> bool

Check if this body is active.

fn is_dynamic(&self) -> bool

Whether or not the status of this body is dynamic.

fn is_kinematic(&self) -> bool

Whether or not the status of this body is kinematic.

fn is_static(&self) -> bool

Whether or not the status of this body is static.

fn activate(&mut self)

Force the activation of this body.