Struct nphysics3d::solver::GenericNonlinearConstraint [−][src]
pub struct GenericNonlinearConstraint<N: RealField + Copy, Handle: BodyHandle> { pub body1: BodyPartHandle<Handle>, pub body2: Option<BodyPartHandle<Handle>>, pub is_angular: bool, pub dim1: usize, pub dim2: usize, pub wj_id1: usize, pub wj_id2: usize, pub rhs: N, pub r: N, }
Expand description
A generic non-linear position constraint.
Fields
body1: BodyPartHandle<Handle>The first body affected by the constraint.
body2: Option<BodyPartHandle<Handle>>The second body affected by the constraint.
is_angular: boolWhether this constraint affects the bodies translation or orientation.
dim1: usizeNumber of degree of freedom of the first body.
dim2: usizeNumber of degree of freedom 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.
rhs: NThe target position change this constraint must apply.
r: NThe scaling parameter of the SOR-prox method.
Implementations
pub fn new(
body1: BodyPartHandle<Handle>,
body2: Option<BodyPartHandle<Handle>>,
is_angular: bool,
dim1: usize,
dim2: usize,
wj_id1: usize,
wj_id2: usize,
rhs: N,
r: N
) -> Self
pub fn new(
body1: BodyPartHandle<Handle>,
body2: Option<BodyPartHandle<Handle>>,
is_angular: bool,
dim1: usize,
dim2: usize,
wj_id1: usize,
wj_id2: usize,
rhs: N,
r: N
) -> Self
Initialize a new nonlinear constraint.
Auto Trait Implementations
impl<N, Handle> RefUnwindSafe for GenericNonlinearConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Handle> Send for GenericNonlinearConstraint<N, Handle>
impl<N, Handle> Sync for GenericNonlinearConstraint<N, Handle>
impl<N, Handle> Unpin for GenericNonlinearConstraint<N, Handle> where
Handle: Unpin,
N: Unpin,
impl<N, Handle> UnwindSafe for GenericNonlinearConstraint<N, Handle> where
Handle: 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.