Struct nphysics3d::joint::RectangularConstraint [−][src]
pub struct RectangularConstraint<N: RealField + Copy, Handle: BodyHandle> { /* fields omitted */ }
Expand description
A constraint that remove all relative rotations and one relative translation between two body parts.
Implementations
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>
) -> Self
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>
) -> Self
Create a new rectangular constraint that restrict b1
and b2
to move on a plane orthogonal to axis1
.
The axis1
is expressed in the local coordinate system of b1
.
Both anchors are expressed in the local coordinate system of their respective bodies.
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 RectangularConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for RectangularConstraint<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 RectangularConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for RectangularConstraint<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 RectangularConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Handle> Send for RectangularConstraint<N, Handle>
impl<N, Handle> Sync for RectangularConstraint<N, Handle>
impl<N, Handle> Unpin for RectangularConstraint<N, Handle> where
Handle: Unpin,
N: Unpin,
impl<N, Handle> UnwindSafe for RectangularConstraint<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.