Trait oxygengine_physics_2d::prelude::joint::JointConstraint

pub trait JointConstraint<N, Handle>: NonlinearConstraintGenerator<N, Handle> + Downcast + Send + Syncwhere
    N: RealField + Copy,
    Handle: BodyHandle,{
    // Required methods
    fn num_velocity_constraints(&self) -> usize;
    fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>);
    fn velocity_constraints(
        &mut self,
        parameters: &IntegrationParameters<N>,
        bodies: &dyn BodySet<N, Handle = Handle>,
        ext_vels: &Matrix<N, Dynamic, Const<1>, VecStorage<N, Dynamic, Const<1>>>,
        ground_j_id: &mut usize,
        j_id: &mut usize,
        jacobians: &mut [N],
        velocity_constraints: &mut LinearConstraints<N, usize>
    );
    fn cache_impulses(
        &mut self,
        constraints: &LinearConstraints<N, usize>,
        inv_dt: N
    );

    // Provided methods
    fn is_active(&self, bodies: &dyn BodySet<N, Handle = Handle>) -> bool { ... }
    fn is_broken(&self) -> bool { ... }
}

Trait implemented by joint that operate by generating constraints to restrict the relative motion of two body parts.

Required Methods

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)

The two body parts affected by this joint.

fn velocity_constraints( &mut self, parameters: &IntegrationParameters<N>, bodies: &dyn BodySet<N, Handle = Handle>, ext_vels: &Matrix<N, Dynamic, Const<1>, VecStorage<N, Dynamic, Const<1>>>, ground_j_id: &mut usize, j_id: &mut usize, jacobians: &mut [N], velocity_constraints: &mut LinearConstraints<N, usize> )

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses( &mut self, constraints: &LinearConstraints<N, usize>, inv_dt: N )

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

Provided Methods

fn is_active(&self, bodies: &dyn BodySet<N, Handle = Handle>) -> bool

Return true if the constraint is active.

Typically, a constraint is disable if it is between two sleeping bodies, or, between bodies without any degrees of freedom.

fn is_broken(&self) -> bool

Returns true if this joint is broken.

Implementations

impl<N, Handle> dyn JointConstraint<N, Handle>where N: Any + 'static + RealField + Copy, Handle: Any + 'static + BodyHandle,

pub fn is<__T>(&self) -> boolwhere __T: JointConstraint<N, Handle>,

Returns true if the trait object wraps an object of type __T.

pub fn downcast<__T>( self: Box<dyn JointConstraint<N, Handle>, Global> ) -> Result<Box<__T, Global>, Box<dyn JointConstraint<N, Handle>, Global>>where __T: JointConstraint<N, Handle>,

Returns a boxed object from a boxed trait object if the underlying object is of type __T. Returns the original boxed trait if it isn’t.

pub fn downcast_rc<__T>( self: Rc<dyn JointConstraint<N, Handle>, Global> ) -> Result<Rc<__T, Global>, Rc<dyn JointConstraint<N, Handle>, Global>>where __T: JointConstraint<N, Handle>,

Returns an Rc-ed object from an Rc-ed trait object if the underlying object is of type __T. Returns the original Rc-ed trait if it isn’t.

pub fn downcast_ref<__T>(&self) -> Option<&__T>where __T: JointConstraint<N, Handle>,

Returns a reference to the object within the trait object if it is of type __T, or None if it isn’t.

pub fn downcast_mut<__T>(&mut self) -> Option<&mut __T>where __T: JointConstraint<N, Handle>,

Returns a mutable reference to the object within the trait object if it is of type __T, or None if it isn’t.

Implementors

impl<N, Handle> JointConstraint<N, Handle> for CartesianConstraint<N, Handle>where N: RealField + Copy, Handle: BodyHandle,

impl<N, Handle> JointConstraint<N, Handle> for FixedConstraint<N, Handle>where N: RealField + Copy, Handle: BodyHandle,

impl<N, Handle> JointConstraint<N, Handle> for MouseConstraint<N, Handle>where N: RealField + Copy, Handle: BodyHandle,

impl<N, Handle> JointConstraint<N, Handle> for PrismaticConstraint<N, Handle>where N: RealField + Copy, Handle: BodyHandle,

impl<N, Handle> JointConstraint<N, Handle> for RevoluteConstraint<N, Handle>where N: RealField + Copy, Handle: BodyHandle,