[−][src]Struct nphysics3d::joint::RevoluteConstraint
A constraint that removes all relative motions except one rotation between two body parts.
Implementations
impl<N: RealField, Handle: BodyHandle> RevoluteConstraint<N, Handle>
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pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>,
axis2: Unit<AngularVector<N>>
) -> Self
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b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>,
axis2: Unit<AngularVector<N>>
) -> Self
Create a new revolute constraint which ensures the provided axii and anchors always coincide.
All axii and achors are expressed in the local coordinate system of the corresponding body parts.
pub fn set_break_force(&mut self, break_force: N)
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The maximum force this joint can absorb before breaking.
pub fn set_break_torque(&mut self, break_torque: N)
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The maximum torque this joint can absorb before breaking.
Trait Implementations
impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for RevoluteConstraint<N, Handle>
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pub fn is_broken(&self) -> bool
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pub fn num_velocity_constraints(&self) -> usize
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pub fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)
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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>
)
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&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>
)
pub fn cache_impulses(
&mut self,
constraints: &LinearConstraints<N, usize>,
inv_dt: N
)
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&mut self,
constraints: &LinearConstraints<N, usize>,
inv_dt: N
)
pub fn is_active(&self, bodies: &dyn BodySet<N, Handle = Handle>) -> bool
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impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for RevoluteConstraint<N, Handle>
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pub fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
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&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
pub fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
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&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
Auto Trait Implementations
impl<N, Handle> RefUnwindSafe for RevoluteConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe + Scalar,
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Handle: RefUnwindSafe,
N: RefUnwindSafe + Scalar,
impl<N, Handle> Send for RevoluteConstraint<N, Handle> where
N: Scalar,
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N: Scalar,
impl<N, Handle> Sync for RevoluteConstraint<N, Handle> where
N: Scalar,
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N: Scalar,
impl<N, Handle> Unpin for RevoluteConstraint<N, Handle> where
Handle: Unpin,
N: Scalar + Unpin,
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Handle: Unpin,
N: Scalar + Unpin,
impl<N, Handle> UnwindSafe for RevoluteConstraint<N, Handle> where
Handle: UnwindSafe,
N: Scalar + UnwindSafe,
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Handle: UnwindSafe,
N: Scalar + UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T, U> TryFrom<U> 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.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> 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.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,