# [−][src]Struct nphysics3d::joint::UniversalConstraint

A constraint that removes all but two relative rotations along distinct axii.

## Methods

`impl<N: Real> UniversalConstraint<N>`

[src]

`impl<N: Real> UniversalConstraint<N>`

`pub fn new(`

b1: BodyPartHandle,

b2: BodyPartHandle,

anchor1: Point<N>,

axis1: Unit<AngularVector<N>>,

anchor2: Point<N>,

axis2: Unit<AngularVector<N>>,

angle: N

) -> Self

[src]

`pub fn new(`

b1: BodyPartHandle,

b2: BodyPartHandle,

anchor1: Point<N>,

axis1: Unit<AngularVector<N>>,

anchor2: Point<N>,

axis2: Unit<AngularVector<N>>,

angle: N

) -> Self

Create a new universal constraint that ensure the angle between `axis1`

and `axis2`

is always equal to `angle`

.

All anchors and axii are expressed in the local coordinate systems of the corresponding body parts.

## Trait Implementations

`impl<N: Real> JointConstraint<N> for UniversalConstraint<N>`

[src]

`impl<N: Real> JointConstraint<N> for UniversalConstraint<N>`

`fn num_velocity_constraints(&self) -> usize`

[src]

`fn num_velocity_constraints(&self) -> usize`

`fn anchors(&self) -> (BodyPartHandle, BodyPartHandle)`

[src]

`fn anchors(&self) -> (BodyPartHandle, BodyPartHandle)`

`fn velocity_constraints(`

&mut self,

_: &IntegrationParameters<N>,

bodies: &BodySet<N>,

ext_vels: &DVector<N>,

ground_j_id: &mut usize,

j_id: &mut usize,

jacobians: &mut [N],

constraints: &mut ConstraintSet<N>

)

[src]

`fn velocity_constraints(`

&mut self,

_: &IntegrationParameters<N>,

bodies: &BodySet<N>,

ext_vels: &DVector<N>,

ground_j_id: &mut usize,

j_id: &mut usize,

jacobians: &mut [N],

constraints: &mut ConstraintSet<N>

)

`fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)`

[src]

`fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)`

`fn is_active(&self, bodies: &BodySet<N>) -> bool`

[src]

`fn is_active(&self, bodies: &BodySet<N>) -> bool`

Return `true`

if the constraint is active. Read more

`impl<N: Real> NonlinearConstraintGenerator<N> for UniversalConstraint<N>`

[src]

`impl<N: Real> NonlinearConstraintGenerator<N> for UniversalConstraint<N>`

`fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize`

[src]

`fn num_position_constraints(&self, bodies: &BodySet<N>) -> usize`

`fn position_constraint(`

&self,

params: &IntegrationParameters<N>,

i: usize,

bodies: &mut BodySet<N>,

jacobians: &mut [N]

) -> Option<GenericNonlinearConstraint<N>>

[src]

`fn position_constraint(`

&self,

params: &IntegrationParameters<N>,

i: usize,

bodies: &mut BodySet<N>,

jacobians: &mut [N]

) -> Option<GenericNonlinearConstraint<N>>

## Auto Trait Implementations

`impl<N> Send for UniversalConstraint<N> where`

N: Scalar,

`impl<N> Send for UniversalConstraint<N> where`

N: Scalar,

`impl<N> Sync for UniversalConstraint<N> where`

N: Scalar,

`impl<N> Sync for UniversalConstraint<N> where`

N: Scalar,

## Blanket Implementations

`impl<T> From for T`

[src]

`impl<T> From for T`

`impl<T, U> Into for T where`

U: From<T>,

[src]

`impl<T, U> Into for T where`

U: From<T>,

`impl<T, U> TryFrom for T where`

T: From<U>,

[src]

`impl<T, U> TryFrom for T where`

T: From<U>,

`type Error = !`

🔬 This is a nightly-only experimental API. (

`try_from`

)The type returned in the event of a conversion error.

`fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`

[src]

`fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>`

`impl<T> Borrow for T where`

T: ?Sized,

[src]

`impl<T> Borrow for T where`

T: ?Sized,

`impl<T> Any for T where`

T: 'static + ?Sized,

[src]

`impl<T> Any for T where`

T: 'static + ?Sized,

`fn get_type_id(&self) -> TypeId`

[src]

`fn get_type_id(&self) -> TypeId`

`impl<T, U> TryInto for T where`

U: TryFrom<T>,

[src]

`impl<T, U> TryInto for T where`

U: TryFrom<T>,

`type Error = <U as TryFrom<T>>::Error`

🔬 This is a nightly-only experimental API. (

`try_from`

)The type returned in the event of a conversion error.

`fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`

[src]

`fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>`

`impl<T> BorrowMut for T where`

T: ?Sized,

[src]

`impl<T> BorrowMut for T where`

T: ?Sized,

`fn borrow_mut(&mut self) -> &mut T`

[src]

`fn borrow_mut(&mut self) -> &mut T`

`impl<T> Downcast for T where`

T: Any,

`impl<T> Downcast for T where`

T: Any,

`fn into_any(self: Box<T>) -> Box<dyn Any + 'static>`

`fn into_any(self: Box<T>) -> Box<dyn Any + 'static>`

`fn as_any(&self) -> &(dyn Any + 'static)`

`fn as_any(&self) -> &(dyn Any + 'static)`

`fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)`

`fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)`

`impl<SS, SP> SupersetOf for SP where`

SS: SubsetOf<SP>,

`impl<SS, SP> SupersetOf for SP where`

SS: SubsetOf<SP>,

`fn to_subset(&self) -> Option<SS>`

`fn to_subset(&self) -> Option<SS>`

`fn is_in_subset(&self) -> bool`

`fn is_in_subset(&self) -> bool`

`unsafe fn to_subset_unchecked(&self) -> SS`

`unsafe fn to_subset_unchecked(&self) -> SS`

`fn from_subset(element: &SS) -> SP`

`fn from_subset(element: &SS) -> SP`

`impl<T> Same for T`

`impl<T> Same for T`

`type Output = T`

Should always be `Self`