[−][src]Trait nphysics2d::joint::JointConstraint

pub trait JointConstraint<N: RealField, Handle: BodyHandle>: NonlinearConstraintGenerator<N, Handle> + Downcast + Send + Sync {
    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: &DVector<N>, 
        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
    );

    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: &DVector<N>,
    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.

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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.

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Methods

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

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

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

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

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: JointConstraint<N, Handle>>(
    self: Rc<Self>
) -> Result<Rc<__T>, Rc<Self>>

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: JointConstraint<N, Handle>>(&self) -> Option<&__T>

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: JointConstraint<N, Handle>>(
    &mut self
) -> Option<&mut __T>

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: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for CartesianConstraint<N, Handle>[src]

impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for FixedConstraint<N, Handle>[src]

impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for MouseConstraint<N, Handle>[src]

impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for PrismaticConstraint<N, Handle>[src]

impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for RevoluteConstraint<N, Handle>[src]

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