Trait nphysics3d::solver::NonlinearConstraintGenerator [−][src]
pub trait NonlinearConstraintGenerator<N: RealField, Handle: BodyHandle> { fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize; fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>; }
Expand description
Implemented by structures that generate non-linear constraints.
Required methods
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]Maximum of non-linear position constraint this generator needs to output.
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]Generate the i
-th position constraint of this generator.
Implementors
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for BallConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for BallConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
_: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
_: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for CartesianConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for CartesianConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
_: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
_: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for CylindricalConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for CylindricalConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for FixedConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for FixedConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MouseConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MouseConstraint<N, Handle>
[src]fn num_position_constraints(&self, _: &dyn BodySet<N, Handle = Handle>) -> usize
[src]
fn position_constraint(
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut dyn BodySet<N, Handle = Handle>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut dyn BodySet<N, Handle = Handle>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PinSlotConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PinSlotConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PlanarConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PlanarConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PrismaticConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PrismaticConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for RectangularConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for RectangularConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for RevoluteConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for RevoluteConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for UniversalConstraint<N, Handle>
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for UniversalConstraint<N, Handle>
[src]fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MultibodyJointLimitsNonlinearConstraintGenerator
[src]
impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MultibodyJointLimitsNonlinearConstraintGenerator
[src]fn num_position_constraints(&self, _: &dyn BodySet<N, Handle = Handle>) -> usize
[src]
fn position_constraint(
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut dyn BodySet<N, Handle = Handle>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut dyn BodySet<N, Handle = Handle>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>