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

pub struct NonlinearUnilateralConstraint<N: RealField> {
    pub r: N,
    pub rhs: N,
    pub ndofs1: usize,
    pub body1: BodyPartHandle,
    pub collider1: ColliderHandle,
    pub ndofs2: usize,
    pub body2: BodyPartHandle,
    pub collider2: ColliderHandle,
    pub kinematic: ContactKinematic<N>,
    pub normal1: Unit<Vector<N>>,
    pub normal2: Unit<Vector<N>>,
}

A non-linear position-based non-penetration constraint.

Fields

r: N

The scaling parameter of the SOR-prox method.

rhs: N

The target position change this constraint must apply.

ndofs1: usize

Number of degree of freedom of the first body.

body1: BodyPartHandle

The first body affected by the constraint.

collider1: ColliderHandle

The first collider affected by the constraint.

ndofs2: usize

Number of degree of freedom of the second body.

body2: BodyPartHandle

The second body affected by the constraint.

collider2: ColliderHandle

The second collider affected by the constraint.

kinematic: ContactKinematic<N>

The kinematic information used to update the contact location.

normal1: Unit<Vector<N>>

The contact normal on the local space of self.body1.

normal2: Unit<Vector<N>>

The contact normal on the local space of self.body1.

Methods

`impl<N: RealField> NonlinearUnilateralConstraint<N>`[src]

`pub fn new( body1: BodyPartHandle, collider1: ColliderHandle, ndofs1: usize, body2: BodyPartHandle, collider2: ColliderHandle, ndofs2: usize, normal1: Unit<Vector<N>>, normal2: Unit<Vector<N>>, kinematic: ContactKinematic<N> ) -> Self`[src]

Create a new nonlinear position-based non-penetration constraint.

Trait Implementations

`impl<N: Debug + RealField> Debug for NonlinearUnilateralConstraint<N>`[src]

`fn fmt(&self, f: &mut Formatter) -> Result`[src]

Auto Trait Implementations

`impl<N> Send for NonlinearUnilateralConstraint<N> where N: Scalar,`

`impl<N> Sync for NonlinearUnilateralConstraint<N> where N: Scalar,`

Blanket Implementations

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

`fn into(self) -> U`[src]

`impl<T> From for T`[src]

`fn from(t: T) -> 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.

`fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`[src]

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

`fn borrow(&self) -> &T`[src]

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

`fn type_id(&self) -> TypeId`[src]

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

`fn borrow_mut(&mut self) -> &mut T`[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.

`fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`[src]

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

`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]

`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

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

Fields

Methods

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

pub fn new( body1: BodyPartHandle, collider1: ColliderHandle, ndofs1: usize, body2: BodyPartHandle, collider2: ColliderHandle, ndofs2: usize, normal1: Unit<Vector<N>>, normal2: Unit<Vector<N>>, kinematic: ContactKinematic<N>) -> Self[src]

Trait Implementations

impl<N: Debug + RealField> Debug for NonlinearUnilateralConstraint<N>[src]

fn fmt(&self, f: &mut Formatter) -> Result[src]

Auto Trait Implementations

impl<N> Send for NonlinearUnilateralConstraint<N> where N: Scalar,

impl<N> Sync for NonlinearUnilateralConstraint<N> where N: Scalar,

Blanket Implementations

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

fn into(self) -> U[src]

impl<T> From for T[src]

fn from(t: T) -> T[src]

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

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

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

fn borrow(&self) -> &T[src]

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

fn type_id(&self) -> TypeId[src]

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

fn borrow_mut(&mut self) -> &mut T[src]

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

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

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

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

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]

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