[−][src]Struct nphysics3d::solver::BilateralConstraint

pub struct BilateralConstraint<N: RealField> {
    pub impulse: N,
    pub r: N,
    pub rhs: N,
    pub limits: ImpulseLimits<N>,
    pub impulse_id: usize,
    pub assembly_id1: usize,
    pub assembly_id2: usize,
    pub j_id1: usize,
    pub j_id2: usize,
    pub wj_id1: usize,
    pub wj_id2: usize,
    pub ndofs1: usize,
    pub ndofs2: usize,
}

A bilateral (equality) constraint between two bodies.

Fields

impulse: N

The impulse applied by this constraint.

r: N

The scaling parameter of the SOR-prox method.

rhs: N

The target velocity change this constraint must apply.

limits: ImpulseLimits<N>

Limits of impulse applicable by this constraint.

impulse_id: usize

The index of the impulse used for its storage in an impuse cache.

assembly_id1: usize

The assembly index of the first body.

assembly_id2: usize

The assembly index of the second body.

j_id1: usize

Index of the first entry of the jacobian of the constraint affecting the first body.

j_id2: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.

wj_id1: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body.

wj_id2: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.

ndofs1: usize

Number of degree of freedom of the first body.

ndofs2: usize

Number of degree of freedom of the second body.

Methods

impl<N: RealField> BilateralConstraint<N>[src]

pub fn new(
    geom: ConstraintGeometry<N>,
    assembly_id1: usize,
    assembly_id2: usize,
    limits: ImpulseLimits<N>,
    rhs: N,
    impulse: N,
    impulse_id: usize
) -> Self[src]

Create a new bilateral constraint.

Auto Trait Implementations

impl<N> Send for BilateralConstraint<N>

impl<N> Sync for BilateralConstraint<N>

Blanket Implementations

impl<T, U> Into for T where
    U: From<T>, [src]

impl<T> From for T[src]

impl<T, U> TryFrom for T where
    U: Into<T>, [src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T> Borrow for T where
    T: ?Sized, [src]

impl<T> Any for T where
    T: 'static + ?Sized, [src]

impl<T> BorrowMut for T where
    T: ?Sized, [src]

impl<T, U> TryInto for T where
    U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

impl<T> Downcast for T where
    T: Any, [src]

impl<SS, SP> SupersetOf for SP where
    SS: SubsetOf<SP>, [src]

impl<T> Same for T

type Output = T

Should always be Self