Struct GenericNonlinearConstraint

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,
}

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: bool

Whether this constraint affects the bodies translation or orientation.

dim1: usize

Number of degree of freedom of the first body.

dim2: usize

Number of degree of freedom of the second body.

wj_id1: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the first body.

wj_id2: usize

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the second body.

rhs: N

The target position change this constraint must apply.

r: N

The scaling parameter of the SOR-prox method.

Implementations

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

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.