Struct nphysics3d::solver::GenericNonlinearConstraint [−][src]
pub struct GenericNonlinearConstraint<N: RealField, Handle: BodyHandle> { pub body1: BodyPartHandle<Handle>, pub body2: Option<BodyPartHandle<Handle>>, pub is_angular: bool, pub dim1: usize, pub dim2: usize, pub wj_id1: usize, pub wj_id2: usize, pub rhs: N, pub r: N, }
Expand description
A generic non-linear position constraint.
Fields
body1: BodyPartHandle<Handle>
The first body affected by the constraint.
body2: Option<BodyPartHandle<Handle>>
The second body affected by the constraint.
is_angular: bool
Whether this constraint affects the bodies translation or orientation.
dim1: usize
Number of degree of freedom of the first body.
dim2: usize
Number of degree of freedom 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.
rhs: N
The target position change this constraint must apply.
r: N
The scaling parameter of the SOR-prox method.
Implementations
impl<N: RealField, Handle: BodyHandle> GenericNonlinearConstraint<N, Handle>
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impl<N: RealField, Handle: BodyHandle> GenericNonlinearConstraint<N, Handle>
[src]pub fn new(
body1: BodyPartHandle<Handle>,
body2: Option<BodyPartHandle<Handle>>,
is_angular: bool,
dim1: usize,
dim2: usize,
wj_id1: usize,
wj_id2: usize,
rhs: N,
r: N
) -> Self
[src]
pub fn new(
body1: BodyPartHandle<Handle>,
body2: Option<BodyPartHandle<Handle>>,
is_angular: bool,
dim1: usize,
dim2: usize,
wj_id1: usize,
wj_id2: usize,
rhs: N,
r: N
) -> Self
[src]Initialize a new nonlinear constraint.
Auto Trait Implementations
impl<N, Handle> RefUnwindSafe for GenericNonlinearConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe,
Handle: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Handle> Send for GenericNonlinearConstraint<N, Handle>
impl<N, Handle> Sync for GenericNonlinearConstraint<N, Handle>
impl<N, Handle> Unpin for GenericNonlinearConstraint<N, Handle> where
Handle: Unpin,
N: Unpin,
Handle: Unpin,
N: Unpin,
impl<N, Handle> UnwindSafe for GenericNonlinearConstraint<N, Handle> where
Handle: UnwindSafe,
N: UnwindSafe,
Handle: 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.