Struct nphysics3d::joint::PinSlotConstraint [−][src]
pub struct PinSlotConstraint<N: RealField + Copy, Handle: BodyHandle> { /* fields omitted */ }
Expand description
A constraint that removes two translational and two rotational degrees of freedoms.
This is different frmo the cylindrical constraint since the remaining rotation and translation are not restricted to be done wrt. the same axis.
Implementations
Creates a new pin-slot constraint.
This will ensure the relative linear motions are always along axis_v1
(here expressed
in the local coordinate frame of b1
), and that axis_w1
and axis_w2
always coincide.
All axises and anchors are expressed in the local coordinate frame of their respective 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 PinSlotConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for PinSlotConstraint<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 PinSlotConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PinSlotConstraint<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 PinSlotConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Handle> Send for PinSlotConstraint<N, Handle>
impl<N, Handle> Sync for PinSlotConstraint<N, Handle>
impl<N, Handle> Unpin for PinSlotConstraint<N, Handle> where
Handle: Unpin,
N: Unpin,
impl<N, Handle> UnwindSafe for PinSlotConstraint<N, Handle> where
Handle: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
Mutably borrows from an owned value. Read more
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
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
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.