Struct nphysics3d::solver::BilateralConstraint [−][src]
pub struct BilateralConstraint<N: RealField, Id> {}
Expand description
A bilateral (equality) constraint between two bodies.
Fields
impulse: N
The impulse applied by this constraint.
r: N
The scaling parameter of the SOR-prox method.
rhs: N
The target velocity change this constraint must apply.
limits: ImpulseLimits<N>
Limits of impulse applicable by this constraint.
impulse_id: Id
The index of the impulse used for its storage in an impuse cache.
assembly_id1: usize
The assembly index of the first body.
assembly_id2: usize
The assembly index of the second body.
j_id1: usize
Index of the first entry of the jacobian of the constraint affecting the first body.
j_id2: usize
Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.
wj_id1: usize
Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body.
wj_id2: usize
Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.
ndofs1: usize
Number of degree of freedom of the first body.
ndofs2: usize
Number of degree of freedom of the second body.
Implementations
impl<N: RealField, Id> BilateralConstraint<N, Id>
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impl<N: RealField, Id> BilateralConstraint<N, Id>
[src]pub fn new(
geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
limits: ImpulseLimits<N>,
rhs: N,
impulse: N,
impulse_id: Id
) -> Self
[src]
pub fn new(
geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
limits: ImpulseLimits<N>,
rhs: N,
impulse: N,
impulse_id: Id
) -> Self
[src]Create a new bilateral constraint.
Auto Trait Implementations
impl<N, Id> RefUnwindSafe for BilateralConstraint<N, Id> where
Id: RefUnwindSafe,
N: RefUnwindSafe,
Id: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Id> Send for BilateralConstraint<N, Id> where
Id: Send,
Id: Send,
impl<N, Id> Sync for BilateralConstraint<N, Id> where
Id: Sync,
Id: Sync,
impl<N, Id> Unpin for BilateralConstraint<N, Id> where
Id: Unpin,
N: Unpin,
Id: Unpin,
N: Unpin,
impl<N, Id> UnwindSafe for BilateralConstraint<N, Id> where
Id: UnwindSafe,
N: UnwindSafe,
Id: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
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impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
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pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
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impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Same<T> for T
impl<T> Same<T> for T
type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
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pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
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pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
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pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
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pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.