Trait nphysics3d::solver::NonlinearConstraintGenerator

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

Implemented by structures that generate non-linear constraints.

Required methods

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, Bodies::Handle>>

Generate the i-th position constraint of this generator.

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Implementors

impl<N: RealField, Bodies: BodySet<N>> NonlinearConstraintGenerator<N, Bodies> for MultibodyJointLimitsNonlinearConstraintGenerator

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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