Struct PrismaticConstraint 

pub struct PrismaticConstraint<N: RealField + Copy, Handle: BodyHandle> { /* private fields */ }

A constraint that remove all be one translational degrees of freedom.

Implementations

impl<N: RealField + Copy, Handle: BodyHandle> PrismaticConstraint<N, Handle>

pub fn new( b1: BodyPartHandle<Handle>, b2: BodyPartHandle<Handle>, anchor1: Point<N>, axis1: Unit<Vector<N>>, anchor2: Point<N>, ) -> Self

Create a new prismatic constraint that ensures the relative motion between the two body parts are restricted to a single translation along the axis1 axis (expressed in the local coordinates frame of b1).

pub fn set_break_force(&mut self, break_force: N)

The maximum force this joint can absorb before breaking.

pub fn set_break_torque(&mut self, break_torque: N)

The maximum torque this joint can absorb before breaking.

pub fn min_offset(&self) -> Option<N>

The lower limit, if any, of the relative translation (along the joint axis) of the body parts attached to this joint.

pub fn max_offset(&self) -> Option<N>

The upper limit, if any, of the relative translation (along the joint axis) of the body parts attached to this joint.

pub fn disable_min_offset(&mut self)

Disable the lower limit of the relative translational motion along the joint axis.

pub fn disable_max_offset(&mut self)

Disable the upper limit of the relative translational motion along the joint axis.

pub fn enable_min_offset(&mut self, limit: N)

Enables the lower limit of the relative translational motion along the joint axis.

pub fn enable_max_offset(&mut self, limit: N)

Disable the lower limit of the relative translational motion along the joint axis.

Trait Implementations

impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for PrismaticConstraint<N, Handle>

fn is_broken(&self) -> bool

Returns true if this joint is broken.

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)

The two body parts affected by this joint.

fn velocity_constraints( &mut self, _: &IntegrationParameters<N>, bodies: &dyn BodySet<N, Handle = Handle>, ext_vels: &DVector<N>, ground_j_id: &mut usize, j_id: &mut usize, jacobians: &mut [N], constraints: &mut LinearConstraints<N, usize>, )

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

fn cache_impulses( &mut self, constraints: &LinearConstraints<N, usize>, inv_dt: N, )

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

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

Return true if the constraint is active.

impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for PrismaticConstraint<N, Handle>

fn num_position_constraints( &self, bodies: &dyn BodySet<N, Handle = Handle>, ) -> usize

Maximum of non-linear position constraint this generator needs to output.

fn position_constraint( &self, parameters: &IntegrationParameters<N>, i: usize, bodies: &mut dyn BodySet<N, Handle = Handle>, jacobians: &mut [N], ) -> Option<GenericNonlinearConstraint<N, Handle>>

Generate the i-th position constraint of this generator.