Struct nphysics3d::solver::UnilateralGroundConstraint [−][src]
pub struct UnilateralGroundConstraint<N: RealField + Copy, Id> { pub impulse: N, pub r: N, pub rhs: N, pub impulse_id: Id, pub assembly_id: usize, pub j_id: usize, pub wj_id: usize, pub ndofs: usize, }
Expand description
A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom.
Fields
impulse: NThe impulse applied by the constraint.
r: NThe scaling parameter used by 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_id: usizeThe assembly index of the dynamic body.
j_id: usizeIndex of the first entry of the jacobian of the constraint affecting the dynamic body.
wj_id: usizeIndex of the first entry of the constraint jacobian multiplied by the inverse mass of the dynamic body.
ndofs: usizeNumber of degree of freedom of the dynamic 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 ground constraint.
Auto Trait Implementations
impl<N, Id> RefUnwindSafe for UnilateralGroundConstraint<N, Id> where
Id: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Id> Send for UnilateralGroundConstraint<N, Id> where
Id: Send,
impl<N, Id> Sync for UnilateralGroundConstraint<N, Id> where
Id: Sync,
impl<N, Id> Unpin for UnilateralGroundConstraint<N, Id> where
Id: Unpin,
N: Unpin,
impl<N, Id> UnwindSafe for UnilateralGroundConstraint<N, Id> where
Id: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
Mutably borrows from an owned value. Read more
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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.