[−][src]Struct oxygengine_physics_2d::prelude::solver::UnilateralGroundConstraint
A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom.
Fields
impulse: N
The impulse applied by the constraint.
r: N
The scaling parameter used by the SOR-prox method.
rhs: N
The target velocity change this constraint must apply.
impulse_id: Id
The index of the impulse used for its storage in an impuse cache.
assembly_id: usize
The assembly index of the dynamic body.
j_id: usize
Index of the first entry of the jacobian of the constraint affecting the dynamic body.
wj_id: usize
Index of the first entry of the constraint jacobian multiplied by the inverse mass of the dynamic body.
ndofs: usize
Number of degree of freedom of the dynamic body.
Implementations
impl<N, Id> UnilateralGroundConstraint<N, Id> where
N: RealField,
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N: RealField,
pub fn new(
geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
rhs: N,
impulse: N,
impulse_id: Id
) -> UnilateralGroundConstraint<N, Id>
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geom: ConstraintGeometry<N>,
assembly_id1: usize,
assembly_id2: usize,
rhs: N,
impulse: N,
impulse_id: Id
) -> UnilateralGroundConstraint<N, Id>
Create a new unilateral ground constraint.
Auto Trait Implementations
impl<N, Id> RefUnwindSafe for UnilateralGroundConstraint<N, Id> where
Id: RefUnwindSafe,
N: RefUnwindSafe,
Id: RefUnwindSafe,
N: RefUnwindSafe,
impl<N, Id> Send for UnilateralGroundConstraint<N, Id> where
Id: Send,
Id: Send,
impl<N, Id> Sync for UnilateralGroundConstraint<N, Id> where
Id: Sync,
Id: Sync,
impl<N, Id> Unpin for UnilateralGroundConstraint<N, Id> where
Id: Unpin,
N: Unpin,
Id: Unpin,
N: Unpin,
impl<N, Id> UnwindSafe for UnilateralGroundConstraint<N, Id> where
Id: UnwindSafe,
N: UnwindSafe,
Id: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
fn get_type_id(&self) -> TypeId
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn as_any(&self) -> &(dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> Event for T where
T: Send + Sync + 'static,
T: Send + Sync + 'static,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Resource for T where
T: Any,
T: Any,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
fn to_subset_unchecked(&self) -> SS
fn from_subset(element: &SS) -> SP
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,