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

pub struct BilateralGroundConstraint<N: RealField, Id> {
    pub impulse: N,
    pub r: N,
    pub rhs: N,
    pub limits: ImpulseLimits<N>,
    pub impulse_id: Id,
    pub assembly_id: usize,
    pub j_id: usize,
    pub wj_id: usize,
    pub ndofs: usize,
}

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: Id

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: RealField, Id> BilateralGroundConstraint<N, Id>[src]

pub fn new(
    geom: ConstraintGeometry<N>,
    assembly_id1: usize,
    assembly_id2: usize,
    limits: ImpulseLimits<N>,
    rhs: N,
    impulse: N,
    impulse_id: Id
) -> Self
[src]

Create a new unilateral ground constraint.

Auto Trait Implementations

impl<N, Id> Send for BilateralGroundConstraint<N, Id> where
    Id: Send

impl<N, Id> Unpin for BilateralGroundConstraint<N, Id> where
    Id: Unpin,
    N: Unpin

impl<N, Id> Sync for BilateralGroundConstraint<N, Id> where
    Id: Sync

impl<N, Id> RefUnwindSafe for BilateralGroundConstraint<N, Id> where
    Id: RefUnwindSafe,
    N: RefUnwindSafe

impl<N, Id> UnwindSafe for BilateralGroundConstraint<N, Id> where
    Id: UnwindSafe,
    N: UnwindSafe

Blanket Implementations

impl<T> From<T> for T[src]

impl<T, U> Into<U> for T where
    U: From<T>, 
[src]

impl<T, U> TryFrom<U> for T where
    U: Into<T>, 
[src]

type Error = Infallible

The type returned in the event of a conversion error.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, 
[src]

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

The type returned in the event of a conversion error.

impl<T> BorrowMut<T> for T where
    T: ?Sized
[src]

impl<T> Borrow<T> for T where
    T: ?Sized
[src]

impl<T> Any for T where
    T: 'static + ?Sized
[src]

impl<T> Downcast for T where
    T: Any

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>,