Struct nphysics3d::joint::UniversalConstraint

pub struct UniversalConstraint<N: RealField, Handle: BodyHandle> { /* fields omitted */ }

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

Methods

impl<N: RealField, Handle: BodyHandle> UniversalConstraint<N, Handle>

pub fn new(
    b1: BodyPartHandle<Handle>,
    b2: BodyPartHandle<Handle>,
    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.

pub fn set_break_force(&mut self, break_force: N)

The maximum force this joint can absorb before breaking.

pub fn set_break_torque(&mut self, break_torque: N)

The maximum torque this joint can absorb before breaking.

Trait Implementations

impl<N: RealField, Handle: BodyHandle> JointConstraint<N, Handle> for UniversalConstraint<N, Handle>

fn is_broken(&self) -> bool

Returns true if this joint is broken.

fn num_velocity_constraints(&self) -> usize

The maximum number of velocity constraints generated by this joint.

fn anchors(&self) -> (BodyPartHandle<Handle>, BodyPartHandle<Handle>)

The two body parts affected by this joint.

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>
)

Initialize and retrieve all the constraints appied to the bodies attached to this joint.

fn cache_impulses(
    &mut self,
    constraints: &LinearConstraints<N, usize>,
    inv_dt: N
)

Called after velocity constraint resolution, allows the joint to keep a cache of impulses generated for each constraint.

fn is_active(&self, bodies: &dyn BodySet<N, Handle = Handle>) -> bool

Return true if the constraint is active.

impl<N: RealField, Handle: BodyHandle> NonlinearConstraintGenerator<N, Handle> for UniversalConstraint<N, Handle>

fn num_position_constraints(
    &self,
    bodies: &dyn BodySet<N, Handle = Handle>
) -> usize

Maximum of non-linear position constraint this generator needs to output.

fn position_constraint(
    &self,
    parameters: &IntegrationParameters<N>,
    i: usize,
    bodies: &mut dyn BodySet<N, Handle = Handle>,
    jacobians: &mut [N]
) -> Option<GenericNonlinearConstraint<N, Handle>>

Generate the i-th position constraint of this generator.