Struct nphysics3d::solver::ConstraintGeometry[−][src]

pub struct ConstraintGeometry<N: RealField + Copy> {
    pub j_id1: usize,
    pub j_id2: usize,
    pub wj_id1: usize,
    pub wj_id2: usize,
    pub ndofs1: usize,
    pub ndofs2: usize,
    pub r: N,
}
Expand description

Logical information of the geometry of a constraint.

Fields

j_id1: usize

Index of the first entry of the jacobian of the constraint affecting the first body.

j_id2: usize

Index of the first entry of the jacobian of the constraint affecting the second body.

wj_id1: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body.

wj_id2: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.

ndofs1: usize

Number of degree of freedom of the first body.

ndofs2: usize

Number of degree of freedom of the second body.

r: N

Scaling parameter of the SOR-prox method.

Implementations

Create a costraint geometry initialized to zero.

Return true if this constraint involve a body with zero degrees of freedom.

Trait Implementations

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