Struct nphysics3d::joint::BallConstraint [−][src]
pub struct BallConstraint<N: RealField + Copy, Handle: BodyHandle> { /* fields omitted */ }
Expand description
A constraint that removes all relative linear motion between two body parts.
Implementations
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
anchor2: Point<N>
) -> Self
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
anchor2: Point<N>
) -> Self
Creates a ball constraint between two body parts.
This will ensure the two points identified by anchor1
and anchor2
will coincide.
Both are given in the local-space of their corresponding body part.
Change the first anchor, expressed in the local space of the first body part.
Change the second anchor, expressed in the local space of the second body part.
The maximum force this joint can absorb before breaking.
Trait Implementations
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for BallConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for BallConstraint<N, Handle>
The maximum number of velocity constraints generated by this joint.
The two body parts affected by this joint.
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>
)
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.
Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for BallConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for BallConstraint<N, Handle>
Maximum of non-linear position constraint this generator needs to output.
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
_: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
_: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
Generate the i
-th position constraint of this generator.
Auto Trait Implementations
impl<N, Handle> RefUnwindSafe for BallConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Handle> Send for BallConstraint<N, Handle>
impl<N, Handle> Sync for BallConstraint<N, Handle>
impl<N, Handle> Unpin for BallConstraint<N, Handle> where
Handle: Unpin,
N: Unpin,
impl<N, Handle> UnwindSafe for BallConstraint<N, Handle> where
Handle: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
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type Output = T
type Output = T
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