Struct nphysics3d::joint::PinSlotConstraint[][src]

pub struct PinSlotConstraint<N: Real> { /* fields omitted */ }

A constraint that removes two translational and two rotational degrees of freedoms.

This is different frmo the cylindrical constraint since the remaining rotation and translation are not restricted to be done wrt. the same axis.


impl<N: Real> PinSlotConstraint<N>

Creates a new pin-slot constraint.

This will ensure the relative linear motions are always along axis_v1 (here expressed in the local coordinate frame of b1), and that axis_w1 and axis_w2 always coincide. All axises and anchors are expressed in the local coordinate frame of their respective body part.

Trait Implementations

impl<N: Real> JointConstraint<N> for PinSlotConstraint<N>

The maximum number of velocity constraints generated by this joint.

The two body parts affected by this joint.

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

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

Return true if the constraint is active. Read more

impl<N: Real> NonlinearConstraintGenerator<N> for PinSlotConstraint<N>

Maximum of non-linear position constraint this generater needs to output.

Generate the i-th position constraint of this generator.

Auto Trait Implementations

impl<N> Send for PinSlotConstraint<N> where
    N: Scalar

impl<N> Sync for PinSlotConstraint<N> where
    N: Scalar