Struct nphysics3d::solver::MultibodyJointLimitsNonlinearConstraintGenerator [−][src]
pub struct MultibodyJointLimitsNonlinearConstraintGenerator;
Expand description
A non-linear position constraint generator to enforce multibody joint limits.
Implementations
Trait Implementations
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MultibodyJointLimitsNonlinearConstraintGenerator
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for MultibodyJointLimitsNonlinearConstraintGenerator
Maximum of non-linear position constraint this generator needs to output.
fn position_constraint(
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut dyn BodySet<N, Handle = Handle>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
fn position_constraint(
&self,
_: &IntegrationParameters<N>,
_: usize,
_: &mut dyn BodySet<N, Handle = Handle>,
_: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
Generate the i
-th position constraint of this generator.
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