Struct nphysics3d::joint::PinSlotConstraint

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

A constraint that removes two translational and two rotational degrees of freedoms.

This is different frmo the cylindrical constraint since the remaining rotation and translation are not restricted to be done wrt. the same axis.

Implementations

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

pub fn new(
    b1: BodyPartHandle<Handle>,
    b2: BodyPartHandle<Handle>,
    anchor1: Point<N>,
    axis_v1: Unit<Vector<N>>,
    axis_w1: Unit<Vector<N>>,
    anchor2: Point<N>,
    axis_w2: Unit<Vector<N>>
) -> Self

Creates a new pin-slot constraint.

This will ensure the relative linear motions are always along axis_v1 (here expressed in the local coordinate frame of b1), and that axis_w1 and axis_w2 always coincide. All axises and anchors are expressed in the local coordinate frame of their respective body part.

pub fn set_break_force(&mut self, break_force: N)

The maximum force this joint can absorb before breaking.

pub fn set_break_torque(&mut self, break_torque: N)

The maximum torque this joint can absorb before breaking.

Trait Implementations

impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for PinSlotConstraint<N, Handle>

pub fn is_broken(&self) -> bool

Returns true if this joint is broken.

pub fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

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

The two body parts affected by this joint.

pub fn velocity_constraints(
    &mut self,
    _: &IntegrationParameters<N>,
    bodies: &dyn BodySet<N, Handle = Handle>,
    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.

pub fn cache_impulses(
    &mut self,
    constraints: &LinearConstraints<N, usize>,
    inv_dt: N
)

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

pub fn is_active(&self, bodies: &dyn BodySet<N, Handle = Handle>) -> bool

Return true if the constraint is active.

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

pub fn num_position_constraints(
    &self,
    bodies: &dyn BodySet<N, Handle = Handle>
) -> usize

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

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

Generate the i-th position constraint of this generator.