[−][src]Trait oxygengine_physics_2d::prelude::solver::NonlinearConstraintGenerator
Implemented by structures that generate non-linear constraints.
Required methods
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
&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>>
&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.
Implementors
impl<N, Handle> NonlinearConstraintGenerator<N, Handle> for CartesianConstraint<N, Handle> where
Handle: BodyHandle,
N: RealField,
[src]
Handle: BodyHandle,
N: RealField,
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N, Handle> NonlinearConstraintGenerator<N, Handle> for FixedConstraint<N, Handle> where
Handle: BodyHandle,
N: RealField,
[src]
Handle: BodyHandle,
N: RealField,
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N, Handle> NonlinearConstraintGenerator<N, Handle> for MouseConstraint<N, Handle> where
Handle: BodyHandle,
N: RealField,
[src]
Handle: BodyHandle,
N: RealField,
fn num_position_constraints(&self, &dyn BodySet<N, Handle = Handle>) -> usize
[src]
fn position_constraint(
&self,
&IntegrationParameters<N>,
usize,
&mut dyn BodySet<N, Handle = Handle>,
&mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
&IntegrationParameters<N>,
usize,
&mut dyn BodySet<N, Handle = Handle>,
&mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N, Handle> NonlinearConstraintGenerator<N, Handle> for PrismaticConstraint<N, Handle> where
Handle: BodyHandle,
N: RealField,
[src]
Handle: BodyHandle,
N: RealField,
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N, Handle> NonlinearConstraintGenerator<N, Handle> for RevoluteConstraint<N, Handle> where
Handle: BodyHandle,
N: RealField,
[src]
Handle: BodyHandle,
N: RealField,
fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
[src]
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
impl<N, Handle> NonlinearConstraintGenerator<N, Handle> for MultibodyJointLimitsNonlinearConstraintGenerator where
Handle: BodyHandle,
N: RealField,
[src]
Handle: BodyHandle,
N: RealField,
fn num_position_constraints(&self, &dyn BodySet<N, Handle = Handle>) -> usize
[src]
fn position_constraint(
&self,
&IntegrationParameters<N>,
usize,
&mut dyn BodySet<N, Handle = Handle>,
&mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
[src]
&self,
&IntegrationParameters<N>,
usize,
&mut dyn BodySet<N, Handle = Handle>,
&mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>