Struct CartesianConstraint 

pub struct CartesianConstraint<N: RealField + Copy, Handle: BodyHandle> { /* private fields */ }

A constraint that removes all relative angular motion between two body parts.

Implementations

impl<N: RealField + Copy, Handle: BodyHandle> CartesianConstraint<N, Handle>

pub fn new( b1: BodyPartHandle<Handle>, b2: BodyPartHandle<Handle>, anchor1: Point<N>, ref_frame1: Rotation<N>, anchor2: Point<N>, ref_frame2: Rotation<N>, ) -> Self

Creates a cartesian constraint between two body parts.

This will ensure the rotational parts of the frames given identified by ref_frame1 and ref_frame2 and attached to the corresponding bodies will coincide.

pub fn set_reference_frame_1(&mut self, ref_frame1: Rotation<N>)

Changes the reference frame for the first body part.

pub fn set_reference_frame_2(&mut self, frame2: Rotation<N>)

Changes the reference frame for the second body part.

pub fn set_anchor_1(&mut self, anchor1: Point<N>)

Changes the attach point for the first body part.

pub fn set_anchor_2(&mut self, anchor2: Point<N>)

Changes the attach point for the second body part.

pub fn set_break_torque(&mut self, break_torque: N)

The maximum torque this joint can absorb before breaking.

Trait Implementations

impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for CartesianConstraint<N, Handle>

fn is_broken(&self) -> bool

Returns true if this joint is broken.

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)

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>, )

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses( &mut self, constraints: &LinearConstraints<N, usize>, inv_dt: N, )

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

fn is_active(&self, bodies: &dyn BodySet<N, Handle = Handle>) -> bool

Return true if the constraint is active.

impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for CartesianConstraint<N, Handle>

fn num_position_constraints( &self, bodies: &dyn BodySet<N, Handle = Handle>, ) -> usize

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>>

Generate the i-th position constraint of this generator.