[−][src]Struct nphysics3d::joint::RevoluteConstraint
A constraint that removes all relative motions except one rotation between two body parts.
Methods
impl<N: RealField, Handle: BodyHandle> RevoluteConstraint<N, Handle>
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pub fn new(
b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>,
axis2: Unit<AngularVector<N>>
) -> Self
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b1: BodyPartHandle<Handle>,
b2: BodyPartHandle<Handle>,
anchor1: Point<N>,
axis1: Unit<AngularVector<N>>,
anchor2: Point<N>,
axis2: Unit<AngularVector<N>>
) -> Self
Create a new revolute constraint which ensures the provided axii and anchors always coincide.
All axii and achors are expressed in the local coordinate system of the corresponding body parts.
pub fn set_break_force(&mut self, break_force: N)
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The maximum force this joint can absorb before breaking.
pub fn set_break_torque(&mut self, break_torque: N)
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The maximum torque this joint can absorb before breaking.
Trait Implementations
impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for RevoluteConstraint<N, Handle>
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fn is_broken(&self) -> bool
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fn num_velocity_constraints(&self) -> usize
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fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)
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fn velocity_constraints(
&mut self,
_: &IntegrationParameters<N>,
bodies: &dyn BodySet<N, Handle = Handle>,
ext_vels: &DVector<N>,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut LinearConstraints<N, usize>
)
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&mut self,
_: &IntegrationParameters<N>,
bodies: &dyn BodySet<N, Handle = Handle>,
ext_vels: &DVector<N>,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut LinearConstraints<N, usize>
)
fn cache_impulses(
&mut self,
constraints: &LinearConstraints<N, usize>,
inv_dt: N
)
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&mut self,
constraints: &LinearConstraints<N, usize>,
inv_dt: N
)
fn is_active(&self, bodies: &dyn BodySet<N, Handle = Handle>) -> bool
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impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for RevoluteConstraint<N, Handle>
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fn num_position_constraints(
&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
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&self,
bodies: &dyn BodySet<N, Handle = Handle>
) -> usize
fn position_constraint(
&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
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&self,
parameters: &IntegrationParameters<N>,
i: usize,
bodies: &mut dyn BodySet<N, Handle = Handle>,
jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>
Auto Trait Implementations
impl<N, Handle> RefUnwindSafe for RevoluteConstraint<N, Handle> where
Handle: RefUnwindSafe,
N: RefUnwindSafe + Scalar,
Handle: RefUnwindSafe,
N: RefUnwindSafe + Scalar,
impl<N, Handle> Send for RevoluteConstraint<N, Handle> where
N: Scalar,
N: Scalar,
impl<N, Handle> Sync for RevoluteConstraint<N, Handle> where
N: Scalar,
N: Scalar,
impl<N, Handle> Unpin for RevoluteConstraint<N, Handle> where
Handle: Unpin,
N: Scalar + Unpin,
Handle: Unpin,
N: Scalar + Unpin,
impl<N, Handle> UnwindSafe for RevoluteConstraint<N, Handle> where
Handle: UnwindSafe,
N: Scalar + UnwindSafe,
Handle: UnwindSafe,
N: Scalar + UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn as_any(&self) -> &(dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
unsafe fn to_subset_unchecked(&self) -> SS
fn from_subset(element: &SS) -> SP
impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
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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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
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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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,