Struct nphysics3d::joint::MouseConstraint

pub struct MouseConstraint<N: RealField, Handle: BodyHandle> { /* fields omitted */ }

A spring-like constraint to be used to drag a body part with the mouse.

Methods

impl<N: RealField, Handle: BodyHandle> MouseConstraint<N, Handle>

pub fn new(
    b1: BodyPartHandle<Handle>,
    b2: BodyPartHandle<Handle>,
    anchor1: Point<N>,
    anchor2: Point<N>,
    limit: N
) -> Self

Initialize a mouse constraint between two bodies.getPartHandle

Typically, b1 will be the ground and the anchor the position of the mouse. Both anchors are expressed in the local coordinate frames of the corresponding body parts.

pub fn set_anchor_1(&mut self, anchor1: Point<N>)

Change the first anchor, expressed in the local space of the first body part.

pub fn set_anchor_2(&mut self, anchor2: Point<N>)

Change the first anchor, expressed in the local space of the second body part.

Trait Implementations

impl<N: RealField, Handle: BodyHandle, Bodies: BodySet<N, Handle = Handle>> JointConstraint<N, Bodies> for MouseConstraint<N, Handle>

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)

The two body parts affected by this joint.

fn velocity_constraints(
    &mut self,
    parameters: &IntegrationParameters<N>,
    bodies: &Bodies,
    ext_vels: &DVector<N>,
    ground_j_id: &mut usize,
    j_id: &mut usize,
    jacobians: &mut [N],
    constraints: &mut LinearConstraints<N, usize>
)

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses(&mut self, _: &LinearConstraints<N, usize>)

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

fn is_active(&self, bodies: &Bodies) -> bool

Return true if the constraint is active.

impl<N: RealField, Handle: BodyHandle, Bodies: BodySet<N, Handle = Handle>> NonlinearConstraintGenerator<N, Bodies> for MouseConstraint<N, Handle>

fn num_position_constraints(&self, _: &Bodies) -> usize

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

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

Generate the i-th position constraint of this generator.