Struct nphysics3d::joint::FixedConstraint [−][src]
pub struct FixedConstraint<N: RealField + Copy, Handle: BodyHandle> { /* fields omitted */ }
Expand description
A constraint that removes all degrees of freedom between two body parts.
Implementations
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
ref_frame1: Rotation<N>,
anchor2: Point<N>,
ref_frame2: Rotation<N>
) -> Self
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
ref_frame1: Rotation<N>,
anchor2: Point<N>,
ref_frame2: Rotation<N>
) -> Self
Create a fixed constraint between two body parts.
This will ensure the frames joint_to_b1 and joint_to_b2 attached to the
body parts b1 adn b2 respectively always coincide.
Changes the reference frame for the first body part.
Changes the reference frame for the second body part.
Changes the attached material point from the first body part.
Changes the attached material point from the second body part.
The maximum force this joint can absorb before breaking.
The maximum torque this joint can absorb before breaking.
Trait Implementations
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for FixedConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for FixedConstraint<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 FixedConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for FixedConstraint<N, Handle>
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>>
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: 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 FixedConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Handle> Send for FixedConstraint<N, Handle>
impl<N, Handle> Sync for FixedConstraint<N, Handle>
impl<N, Handle> Unpin for FixedConstraint<N, Handle> where
Handle: Unpin,
N: Unpin,
impl<N, Handle> UnwindSafe for FixedConstraint<N, Handle> where
Handle: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
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Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot
generate &Any’s vtable from &Trait’s. Read more
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
type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self from the equivalent element of its
superset. Read more
Checks if self is actually part of its subset T (and can be converted to it).
Use with care! Same as self.to_subset but without any property checks. Always succeeds.
The inclusion map: converts self to the equivalent element of its superset.