Struct nphysics3d::solver::UnilateralConstraint[−][src]

pub struct UnilateralConstraint<N: RealField, Id> {
    pub impulse: N,
    pub r: N,
    pub rhs: N,
    pub impulse_id: Id,
    pub assembly_id1: usize,
    pub assembly_id2: usize,
    pub j_id1: usize,
    pub j_id2: usize,
    pub wj_id1: usize,
    pub wj_id2: usize,
    pub ndofs1: usize,
    pub ndofs2: usize,
}
Expand description

A unilateral (inequality) consraint.

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.

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> UnilateralConstraint<N, Id>[src]

pub fn new(
    geom: ConstraintGeometry<N>,
    assembly_id1: usize,
    assembly_id2: usize,
    rhs: N,
    impulse: N,
    impulse_id: Id
) -> Self[src]

Create a new unilateral constraint.

Auto Trait Implementations

impl<N, Id> RefUnwindSafe for UnilateralConstraint<N, Id> where
    Id: RefUnwindSafe,
    N: RefUnwindSafe, 

impl<N, Id> Send for UnilateralConstraint<N, Id> where
    Id: Send, 

impl<N, Id> Sync for UnilateralConstraint<N, Id> where
    Id: Sync, 

impl<N, Id> Unpin for UnilateralConstraint<N, Id> where
    Id: Unpin,
    N: Unpin, 

impl<N, Id> UnwindSafe for UnilateralConstraint<N, Id> where
    Id: UnwindSafe,
    N: UnwindSafe, 

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

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, [src]

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>[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]

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]

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, [src]

pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + 'static + Sync + Send>[src]

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>, [src]

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, [src]

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[src]

Checks if self is actually part of its subset T (and can be converted to it).

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[src]

The inclusion map: converts self to the equivalent element of its superset.

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

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>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

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>[src]

Performs the conversion.