Struct nphysics3d::joint::PlanarConstraint[][src]

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

A constraint that removes one relative translational degree of freedom, and all but one rotational degrees of freedom.

This ensures a body moves only on a plane wrt. its parent.


impl<N: Real> PlanarConstraint<N>

Create a new planar constraint which ensures the two provided axii always coincide.

All anchros and axii are expressed in their corresponding body part local coordinate frame.

Trait Implementations

impl<N: Real> JointConstraint<N> for PlanarConstraint<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 PlanarConstraint<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 PlanarConstraint<N> where
    N: Scalar

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