Trait nphysics3d::joint::JointConstraint

pub trait JointConstraint<N: Real>: NonlinearConstraintGenerator<N> + Any + Send + Sync {
    fn num_velocity_constraints(&self) -> usize;
    fn anchors(&self) -> (BodyHandle, BodyHandle);
    fn velocity_constraints(
        &mut self, 
        params: &IntegrationParameters<N>, 
        bodies: &BodySet<N>, 
        ext_vels: &DVector<N>, 
        ground_j_id: &mut usize, 
        j_id: &mut usize, 
        jacobians: &mut [N], 
        velocity_constraints: &mut ConstraintSet<N>
    );
    fn cache_impulses(&mut self, constraints: &ConstraintSet<N>);

    fn is_active(&self, bodies: &BodySet<N>) -> bool { ... }
}

Trait implemented by joint that operate by generating constraints to restrict the relative motion of two body parts.

Required Methods

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyHandle, BodyHandle)

The two body parts affected by this joint.

fn velocity_constraints(
    &mut self,
    params: &IntegrationParameters<N>,
    bodies: &BodySet<N>,
    ext_vels: &DVector<N>,
    ground_j_id: &mut usize,
    j_id: &mut usize,
    jacobians: &mut [N],
    velocity_constraints: &mut ConstraintSet<N>
)

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

Provided Methods

fn is_active(&self, bodies: &BodySet<N>) -> bool

Return true if the constraint is active.

Typically, a constraint is disable if it is between two sleeping bodies, or, between bodies without any degrees of freedom.

Methods

impl<N> JointConstraint<N> where     N: Real,

pub fn is<_T>(&self) -> bool where     _T: Any,     Self: Downcast<_T>,

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_ref_unchecked<_T>(&self) -> &_T where     _T: Any,     Self: Downcast<_T>,

pub fn downcast_ref<_T>(&self) -> Result<&_T, TypeMismatch> where     _T: Any,     Self: Downcast<_T>,

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_mut_unchecked<_T>(&mut self) -> &mut _T where     _T: Any,     Self: Downcast<_T>,

pub fn downcast_mut<_T>(&mut self) -> Result<&mut _T, TypeMismatch> where     _T: Any,     Self: Downcast<_T>,

Important traits for Box<R>

impl<R> Read for Box<R> where
    R: Read + ?Sized, impl<W> Write for Box<W> where
    W: Write + ?Sized, impl<I> Iterator for Box<I> where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_unchecked<_T>(self: Box<Self>) -> Box<_T> where     _T: Any,     Self: Downcast<_T>,

pub fn downcast<_T>(     self: Box<Self> ) -> Result<Box<_T>, DowncastError<Box<Self>>> where     _T: Any,     Self: Downcast<_T>,

Trait Implementations

impl<_T: Any, N> Downcast<_T> for JointConstraint<N> where     _T: Any,     N: 'static,     N: Real,

fn is_type(&self) -> bool

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_ref_unchecked(&self) -> &T

fn downcast_ref(&self) -> Result<&T, TypeMismatch>

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_mut_unchecked(&mut self) -> &mut T

fn downcast_mut(&mut self) -> Result<&mut T, TypeMismatch>

Important traits for Box<R>

impl<R> Read for Box<R> where
    R: Read + ?Sized, impl<W> Write for Box<W> where
    W: Write + ?Sized, impl<I> Iterator for Box<I> where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_unchecked(self: Box<Self>) -> Box<T>

fn downcast(self: Box<Self>) -> Result<Box<T>, DowncastError<Box<Self>>>

Implementors

• impl<N: Real> JointConstraint<N> for CartesianConstraint<N>

• impl<N: Real> JointConstraint<N> for FixedConstraint<N>

• impl<N: Real> JointConstraint<N> for MouseConstraint<N>

• impl<N: Real> JointConstraint<N> for PrismaticConstraint<N>

• impl<N: Real> JointConstraint<N> for RevoluteConstraint<N>

• impl<N: Real> JointConstraint<N> for BallConstraint<N>

• impl<N: Real> JointConstraint<N> for CylindricalConstraint<N>

• impl<N: Real> JointConstraint<N> for PinSlotConstraint<N>

• impl<N: Real> JointConstraint<N> for PlanarConstraint<N>

• impl<N: Real> JointConstraint<N> for RectangularConstraint<N>

• impl<N: Real> JointConstraint<N> for UniversalConstraint<N>