Struct nphysics3d::joint::UniversalConstraint [−][src]
pub struct UniversalConstraint<N: RealField + Copy, Handle: BodyHandle> { /* fields omitted */ }
Expand description
A constraint that removes all but two relative rotations along distinct axii.
Implementations
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>,
axis2: Unit<AngularVector<N>>,
angle: N
) -> Self
pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>,
axis2: Unit<AngularVector<N>>,
angle: N
) -> Self
Create a new universal constraint that ensure the angle between axis1 and axis2 is always equal to angle.
All anchors and axii are expressed in the local coordinate systems of the corresponding body parts.
The maximum force this joint can absorb before breaking.
The maximum torque this joint can absorb before breaking.
Trait Implementations
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for UniversalConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> JointConstraint<N, Handle> for UniversalConstraint<N, Handle>
The maximum number of velocity constraints generated by this joint.
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>
)
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.
Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for UniversalConstraint<N, Handle>
impl<N: RealField + Copy, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for UniversalConstraint<N, Handle>
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>>
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.
Auto Trait Implementations
impl<N, Handle> RefUnwindSafe for UniversalConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Handle> Send for UniversalConstraint<N, Handle>
impl<N, Handle> Sync for UniversalConstraint<N, Handle>
impl<N, Handle> Unpin for UniversalConstraint<N, Handle> where
Handle: Unpin,
N: Unpin,
impl<N, Handle> UnwindSafe for UniversalConstraint<N, Handle> where
Handle: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
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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.