Struct nphysics3d::joint::RectangularConstraint

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

A constraint that remove all relative rotations and one relative translation between two body parts.

Methods

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

pub fn new(
    b1: BodyPartHandle<Handle>,
    b2: BodyPartHandle<Handle>,
    anchor1: Point<N>,
    axis1: Unit<AngularVector<N>>,
    anchor2: Point<N>
) -> Self

Create a new rectangular constraint that restrict b1 and b2 to move on a plane orthogonal to axis1.

The axis1 is expressed in the local coordinate system of b1. Both anchors are expressed in the local coordinate system of their respective bodies.

Trait Implementations

impl<N: RealField, Handle: BodyHandle, Bodies: BodySet<N, Handle = Handle>> JointConstraint<N, Bodies> for RectangularConstraint<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,
    _: &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, constraints: &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 RectangularConstraint<N, Handle>

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

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

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

Generate the i-th position constraint of this generator.