[−][src]Struct nphysics3d::solver::NonlinearUnilateralConstraint
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>
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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
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body1: BodyPartHandle,
collider1: ColliderHandle,
ndofs1: usize,
body2: BodyPartHandle,
collider2: ColliderHandle,
ndofs2: usize,
normal1: Unit<Vector<N>>,
normal2: Unit<Vector<N>>,
kinematic: ContactKinematic<N>
) -> Self
Create a new nonlinear position-based non-penetration constraint.
Trait Implementations
impl<N: Debug + RealField> Debug for NonlinearUnilateralConstraint<N>
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Auto Trait Implementations
impl<N> Send for NonlinearUnilateralConstraint<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for NonlinearUnilateralConstraint<N> where
N: Scalar,
N: Scalar,
Blanket Implementations
impl<T, U> Into for T where
U: From<T>,
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U: From<T>,
impl<T> From for T
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impl<T, U> TryFrom for T where
U: Into<T>,
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U: Into<T>,
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>
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impl<T> Borrow for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T, U> TryInto for T where
U: TryFrom<T>,
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U: TryFrom<T>,
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>
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impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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unsafe fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> Same for T
type Output = T
Should always be Self