Struct Generic6DOFConstraint 

pub struct Generic6DOFConstraint {

    pub body_a: u64,
    pub body_b: u64,
    pub frame_a: Mat4,
    pub frame_b: Mat4,
    pub linear_lower: Vec3,
    pub linear_upper: Vec3,
    pub angular_lower: Vec3,
    pub angular_upper: Vec3,
    pub linear_enabled: [bool; 3],
    pub angular_enabled: [bool; 3],
    pub spring_stiffness: [f32; 6],
    pub spring_damping: [f32; 6],
    pub spring_enabled: [bool; 6],
    pub rows: Vec<JacobianRow>,
}

Fields

body_a: u64

body_b: u64

frame_a: Mat4

frame_b: Mat4

linear_lower: Vec3

linear_upper: Vec3

angular_lower: Vec3

angular_upper: Vec3

linear_enabled: [bool; 3]

angular_enabled: [bool; 3]

spring_stiffness: [f32; 6]

spring_damping: [f32; 6]

spring_enabled: [bool; 6]

rows: Vec<JacobianRow>

Implementations

impl Generic6DOFConstraint

pub fn new(body_a: u64, body_b: u64, frame_a: Mat4, frame_b: Mat4) -> Self

pub fn set_linear_free(&mut self)

pub fn set_angular_locked(&mut self)

pub fn build_jacobian( &mut self, pos_a: Vec3, rot_a: Quat, pos_b: Vec3, rot_b: Quat, baumgarte: f32, dt: f32, )

Trait Implementations

impl Clone for Generic6DOFConstraint

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Generic6DOFConstraint

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.