# [−][src]Struct nphysics2d::solver::BilateralGroundConstraint

A bilateral (equality) constraint between a dynamic body and one without any degrees of freedom.

## Fields

`impulse: N`

The impulse applied by the constraint.

`r: N`

The scaling parameter used by the SOR-prox method.

`rhs: N`

The target velocity change this constraint must apply.

`limits: ImpulseLimits<N>`

Limits of impulse applicable by this constraint.

`impulse_id: usize`

The index of the impulse used for its storage in an impuse cache.

`assembly_id: usize`

The assembly index of the dynamic body.

`j_id: usize`

Index of the first entry of the jacobian of the constraint affecting the dynamic body.

`wj_id: usize`

Index of the first entry of the constraint jacobian multiplied by the inverse mass of the dynamic body.

`ndofs: usize`

Number of degree of freedom of the dynamic body.

## Methods

`impl<N: Real> BilateralGroundConstraint<N>`

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`impl<N: Real> BilateralGroundConstraint<N>`

`pub fn new(`

geom: ConstraintGeometry<N>,

assembly_id1: usize,

assembly_id2: usize,

limits: ImpulseLimits<N>,

rhs: N,

impulse: N,

impulse_id: usize

) -> Self

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`pub fn new(`

geom: ConstraintGeometry<N>,

assembly_id1: usize,

assembly_id2: usize,

limits: ImpulseLimits<N>,

rhs: N,

impulse: N,

impulse_id: usize

) -> Self

Create a new unilateral ground constraint.

## Auto Trait Implementations

`impl<N> Send for BilateralGroundConstraint<N>`

`impl<N> Send for BilateralGroundConstraint<N>`

`impl<N> Sync for BilateralGroundConstraint<N>`

`impl<N> Sync for BilateralGroundConstraint<N>`

## Blanket Implementations

`impl<T> From for T`

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`impl<T> From for T`

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

U: From<T>,

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

U: From<T>,

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

T: From<U>,

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

T: From<U>,

`type Error = !`

`try_from`

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

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

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

`impl<T> Borrow for T where`

T: ?Sized,

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`impl<T> Borrow for T where`

T: ?Sized,

`impl<T> Any for T where`

T: 'static + ?Sized,

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`impl<T> Any for T where`

T: 'static + ?Sized,

`fn get_type_id(&self) -> TypeId`

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`fn get_type_id(&self) -> TypeId`

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

U: TryFrom<T>,

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

U: TryFrom<T>,

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

`try_from`

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

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

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

`impl<T> BorrowMut for T where`

T: ?Sized,

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`impl<T> BorrowMut for T where`

T: ?Sized,

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

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`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`