Struct nphysics3d::joint::UniversalConstraint

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

A constraint that removes all but two relative rotations along distinct axii.

Implementations

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

pub fn new(
    b1: BodyPartHandle<Handle>,
    b2: BodyPartHandle<Handle>,
    anchor1: Point<N>,
    axis1: Unit<AngularVector<N>>,
    anchor2: Point<N>,
    axis2: Unit<AngularVector<N>>,
    angle: N
) -> Self

Create a new universal constraint that ensure the angle between axis1 and axis2 is always equal to angle.

All anchors and axii are expressed in the local coordinate systems of the corresponding body parts.

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 UniversalConstraint<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 UniversalConstraint<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.