Struct nphysics3d::solver::UnilateralConstraint [−][src]
pub struct UnilateralConstraint<N: RealField + Copy, Id> { pub impulse: N, pub r: N, pub rhs: N, pub impulse_id: Id, pub assembly_id1: usize, pub assembly_id2: usize, pub j_id1: usize, pub j_id2: usize, pub wj_id1: usize, pub wj_id2: usize, pub ndofs1: usize, pub ndofs2: usize, }
Expand description
A unilateral (inequality) consraint.
Fields
impulse: NThe impulse applied by this constraint.
r: NThe scaling parameter of the SOR-prox method.
rhs: NThe target velocity change this constraint must apply.
impulse_id: IdThe index of the impulse used for its storage in an impuse cache.
assembly_id1: usizeThe assembly index of the first body.
assembly_id2: usizeThe assembly index of the second body.
j_id1: usizeIndex of the first entry of the jacobian of the constraint affecting the first body.
j_id2: usizeIndex of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.
wj_id1: usizeIndex of the first entry of the constraint jacobian multiplied by the inverse mass of the first body.
wj_id2: usizeIndex of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.
ndofs1: usizeNumber of degree of freedom of the first body.
ndofs2: usizeNumber of degree of freedom of the second body.
Implementations
pub fn new(
geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
rhs: N,
impulse: N,
impulse_id: Id
) -> Self
pub fn new(
geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
rhs: N,
impulse: N,
impulse_id: Id
) -> Self
Create a new unilateral constraint.
Auto Trait Implementations
impl<N, Id> RefUnwindSafe for UnilateralConstraint<N, Id> where
Id: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Id> Send for UnilateralConstraint<N, Id> where
Id: Send,
impl<N, Id> Sync for UnilateralConstraint<N, Id> where
Id: Sync,
impl<N, Id> Unpin for UnilateralConstraint<N, Id> where
Id: Unpin,
N: Unpin,
impl<N, Id> UnwindSafe for UnilateralConstraint<N, Id> where
Id: 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.