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

pub struct NonlinearUnilateralConstraint<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> {
    pub r: N,
    pub rhs: N,
    pub ndofs1: usize,
    pub body1: BodyPartHandle<Handle>,
    pub collider1: CollHandle,
    pub ndofs2: usize,
    pub body2: BodyPartHandle<Handle>,
    pub collider2: CollHandle,
    pub kinematic: ContactKinematic<N>,
    pub normal1: Unit<Vector<N>>,
    pub normal2: Unit<Vector<N>>,
}

Expand description

A non-linear position-based non-penetration constraint.

Fields

r: N

The scaling parameter of the SOR-prox method.

rhs: N

The target position change this constraint must apply.

ndofs1: usize

Number of degree of freedom of the first body.

body1: BodyPartHandle<Handle>

The first body affected by the constraint.

collider1: CollHandle

The first collider affected by the constraint.

ndofs2: usize

Number of degree of freedom of the second body.

body2: BodyPartHandle<Handle>

The second body affected by the constraint.

collider2: CollHandle

The second collider affected by the constraint.

kinematic: ContactKinematic<N>

The kinematic information used to update the contact location.

normal1: Unit<Vector<N>>

The contact normal on the local space of self.body1.

normal2: Unit<Vector<N>>

The contact normal on the local space of self.body2.

Implementations

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impl<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> NonlinearUnilateralConstraint<N, Handle, CollHandle>

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pub fn new(
 body1: BodyPartHandle<Handle>,
 collider1: CollHandle,
 ndofs1: usize,
 body2: BodyPartHandle<Handle>,
 collider2: CollHandle,
 ndofs2: usize,
 normal1: Unit<Vector<N>>,
 normal2: Unit<Vector<N>>,
 kinematic: ContactKinematic<N>
) -> Self

Create a new nonlinear position-based non-penetration constraint.

Trait Implementations

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impl<N: Debug + RealField + Copy, Handle: Debug + BodyHandle, CollHandle: Debug + ColliderHandle> Debug for NonlinearUnilateralConstraint<N, Handle, CollHandle>

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

Auto Trait Implementations

impl<N, Handle, CollHandle> RefUnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle> where
 CollHandle: RefUnwindSafe,
 Handle: RefUnwindSafe,
 N: RefUnwindSafe,

impl<N, Handle, CollHandle> Send for NonlinearUnilateralConstraint<N, Handle, CollHandle>

impl<N, Handle, CollHandle> Sync for NonlinearUnilateralConstraint<N, Handle, CollHandle>

impl<N, Handle, CollHandle> Unpin for NonlinearUnilateralConstraint<N, Handle, CollHandle> where
 CollHandle: Unpin,
 Handle: Unpin,
 N: Unpin,

impl<N, Handle, CollHandle> UnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle> where
 CollHandle: UnwindSafe,
 Handle: UnwindSafe,
 N: UnwindSafe,

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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pub fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

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pub fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

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pub fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T where
T: Any,

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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

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

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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

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

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pub fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s. Read more

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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

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

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impl<T> DowncastSync for T where
T: Any + Send + Sync,

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pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

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pub fn from(t: T) -> T

Performs the conversion.

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impl<T, U> Into for T where
U: From<T>,

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pub fn into(self) -> U

Performs the conversion.

impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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pub fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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pub fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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pub fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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pub fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

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pub fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

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pub fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

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

Fields

Implementations

impl<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> NonlinearUnilateralConstraint<N, Handle, CollHandle>

pub fn new( body1: BodyPartHandle<Handle>, collider1: CollHandle, ndofs1: usize, body2: BodyPartHandle<Handle>, collider2: CollHandle, ndofs2: usize, normal1: Unit<Vector<N>>, normal2: Unit<Vector<N>>, kinematic: ContactKinematic<N>) -> Self

Trait Implementations

impl<N: Debug + RealField + Copy, Handle: Debug + BodyHandle, CollHandle: Debug + ColliderHandle> Debug for NonlinearUnilateralConstraint<N, Handle, CollHandle>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Auto Trait Implementations

impl<N, Handle, CollHandle> RefUnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle> where CollHandle: RefUnwindSafe, Handle: RefUnwindSafe, N: RefUnwindSafe,

impl<N, Handle, CollHandle> Send for NonlinearUnilateralConstraint<N, Handle, CollHandle>

impl<N, Handle, CollHandle> Sync for NonlinearUnilateralConstraint<N, Handle, CollHandle>

impl<N, Handle, CollHandle> Unpin for NonlinearUnilateralConstraint<N, Handle, CollHandle> where CollHandle: Unpin, Handle: Unpin, N: Unpin,

impl<N, Handle, CollHandle> UnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle> where CollHandle: UnwindSafe, Handle: UnwindSafe, N: UnwindSafe,

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

pub fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

pub fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

pub fn borrow_mut(&mut self) -> &mut T

impl<T> Downcast for T where T: Any,

pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

pub fn as_any(&self) -> &(dyn Any + 'static)

pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

impl<T> DowncastSync for T where T: Any + Send + Sync,

pub fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

impl<T> From<T> for T

pub fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

pub fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

pub fn to_subset(&self) -> Option<SS>

pub fn is_in_subset(&self) -> bool

pub fn to_subset_unchecked(&self) -> SS

pub fn from_subset(element: &SS) -> SP

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

pub fn new(
body1: BodyPartHandle<Handle>,
collider1: CollHandle,
ndofs1: usize,
body2: BodyPartHandle<Handle>,
collider2: CollHandle,
ndofs2: usize,
normal1: Unit<Vector<N>>,
normal2: Unit<Vector<N>>,
kinematic: ContactKinematic<N>
) -> Self

impl<N, Handle, CollHandle> RefUnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle> where
CollHandle: RefUnwindSafe,
Handle: RefUnwindSafe,
N: RefUnwindSafe,

impl<N, Handle, CollHandle> Unpin for NonlinearUnilateralConstraint<N, Handle, CollHandle> where
CollHandle: Unpin,
Handle: Unpin,
N: Unpin,

impl<N, Handle, CollHandle> UnwindSafe for NonlinearUnilateralConstraint<N, Handle, CollHandle> where
CollHandle: UnwindSafe,
Handle: UnwindSafe,
N: UnwindSafe,

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T> Downcast for T where
T: Any,

impl<T> DowncastSync for T where
T: Any + Send + Sync,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,