[][src]Struct nphysics2d::solver::UnilateralConstraint

pub struct UnilateralConstraint<N: Real> {
    pub impulse: N,
    pub r: N,
    pub rhs: N,
    pub impulse_id: usize,
    pub assembly_id1: usize,
    pub assembly_id2: usize,
    pub j_id1: usize,
    pub j_id2: usize,
    pub wj_id1: usize,
    pub wj_id2: usize,
    pub ndofs1: usize,
    pub ndofs2: usize,
}

A unilateral (inequality) consraint.

Fields

The impulse applied by this constraint.

The scaling parameter of the SOR-prox method.

The target velocity change this constraint must apply.

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

The assembly index of the first body.

The assembly index of the second body.

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

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

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

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

Number of degree of freedom of the first body.

Number of degree of freedom of the second body.

Methods

impl<N: Real> UnilateralConstraint<N>
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Create a new unilateral constraint.

Auto Trait Implementations

impl<N> Send for UnilateralConstraint<N>

impl<N> Sync for UnilateralConstraint<N>

Blanket Implementations

impl<T> From for T
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impl<T, U> Into for T where
    U: From<T>, 
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impl<T, U> TryFrom for T where
    T: From<U>, 
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🔬 This is a nightly-only experimental API. (try_from)

The type returned in the event of a conversion error.

impl<T> Borrow for T where
    T: ?Sized
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impl<T> Any for T where
    T: 'static + ?Sized
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impl<T, U> TryInto for T where
    U: TryFrom<T>, 
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🔬 This is a nightly-only experimental API. (try_from)

The type returned in the event of a conversion error.

impl<T> BorrowMut for T where
    T: ?Sized
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impl<T> Downcast for T where
    T: Any

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

impl<T> Same for T

Should always be Self