Trait nphysics3d::solver::NonlinearConstraintGenerator

pub trait NonlinearConstraintGenerator<N: RealField> {
    fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize;
    fn position_constraint(
        &self, 
        params: &IntegrationParameters<N>, 
        i: usize, 
        bodies: &mut BodySet<N>, 
        jacobians: &mut [N]
    ) -> Option<GenericNonlinearConstraint<N>>;
}

Implemented by structures that generate non-linear constraints.

Required methods

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

Maximum of non-linear position constraint this generater needs to output.

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

Generate the i-th position constraint of this generator.

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Implementors

impl<N: RealField> NonlinearConstraintGenerator<N> for BallConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    _: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for CartesianConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    _: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for CylindricalConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for FixedConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for MouseConstraint<N>

fn num_position_constraints(&self, _: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    _: &IntegrationParameters<N>,
    _: usize,
    _: &mut BodySet<N>,
    _: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for PinSlotConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for PlanarConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for PrismaticConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for RectangularConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for RevoluteConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for UniversalConstraint<N>

fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    params: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut BodySet<N>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

impl<N: RealField> NonlinearConstraintGenerator<N> for MultibodyJointLimitsNonlinearConstraintGenerator

fn num_position_constraints(&self, _: &BodySet<N>) -> usize

fn position_constraint(
    &self,
    _: &IntegrationParameters<N>,
    _: usize,
    _: &mut BodySet<N>,
    _: &mut [N]
) -> Option<GenericNonlinearConstraint<N>>

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