fn apply_constraint_3d(&self, x: &mut Vector, ct: &Constraint3D) -> Result<bool, StrError> {
        match ct {
            Constraint3D::CylinderX(yc, zc, r) => {
                let dy = x[1] - yc;
                let dz = x[2] - zc;
                let d = f64::sqrt(dy * dy + dz * dz);
                if f64::abs(d) <= TOL_DISTANCE {
                    return Err("cannot apply constraint because a point is at the center of the cylinder-x");
                }
                let gap = r - d;
                if f64::abs(gap) > 0.0 {
                    let move_y = gap * dy / d;
                    let move_z = gap * dz / d;
                    x[1] += move_y;
                    x[2] += move_z;
                    return Ok(true);
                }
            }
            Constraint3D::CylinderY(xc, zc, r) => {
                let dx = x[0] - xc;
                let dz = x[2] - zc;
                let d = f64::sqrt(dx * dx + dz * dz);
                if f64::abs(d) <= TOL_DISTANCE {
                    return Err("cannot apply constraint because a point is at the center of the cylinder-y");
                }
                let gap = r - d;
                if f64::abs(gap) > 0.0 {
                    let move_x = gap * dx / d;
                    let move_z = gap * dz / d;
                    x[0] += move_x;
                    x[2] += move_z;
                    return Ok(true);
                }
            }
            Constraint3D::CylinderZ(xc, yc, r) => {
                let dx = x[0] - xc;
                let dy = x[1] - yc;
                let d = f64::sqrt(dx * dx + dy * dy);
                if f64::abs(d) <= TOL_DISTANCE {
                    return Err("cannot apply constraint because a point is at the center of the cylinder-z");
                }
                let gap = r - d;
                if f64::abs(gap) > 0.0 {
                    let move_x = gap * dx / d;
                    let move_y = gap * dy / d;
                    x[0] += move_x;
                    x[1] += move_y;
                    return Ok(true);
                }
            }
        }
        Ok(false)
    }
/// Applies 3D constraint
///
/// Returns true if the constraint has been applied; otherwise, returns false
Applies 3D constraint
Returns true if the constraint has been applied; otherwise, returns false
Applies 3D constraint Returns true if the constraint has been applied ; otherwise returns false
fn apply_constraint_3d(&self, x: &mut Vector, ct: &Constraint3D) -> Result<bool, StrError> {
        match ct {
            Constraint3D::CylinderX(yc, zc, r) => {
                let dy = x[1] - yc;
                let dz = x[2] - zc;
                let d = f64::sqrt(dy * dy + dz * dz);
                if f64::abs(d) <= TOL_DISTANCE {
                    return Err("cannot apply constraint because a point is at the center of the cylinder-x");
                }
                let gap = r - d;
                if f64::abs(gap) > 0.0 {
                    let move_y = gap * dy / d;
                    let move_z = gap * dz / d;
                    x[1] += move_y;
                    x[2] += move_z;
                    return Ok(true);
                }
            }
            Constraint3D::CylinderY(xc, zc, r) => {
                let dx = x[0] - xc;
                let dz = x[2] - zc;
                let d = f64::sqrt(dx * dx + dz * dz);
                if f64::abs(d) <= TOL_DISTANCE {
                    return Err("cannot apply constraint because a point is at the center of the cylinder-y");
                }
                let gap = r - d;
                if f64::abs(gap) > 0.0 {
                    let move_x = gap * dx / d;
                    let move_z = gap * dz / d;
                    x[0] += move_x;
                    x[2] += move_z;
                    return Ok(true);
                }
            }
            Constraint3D::CylinderZ(xc, yc, r) => {
                let dx = x[0] - xc;
                let dy = x[1] - yc;
                let d = f64::sqrt(dx * dx + dy * dy);
                if f64::abs(d) <= TOL_DISTANCE {
                    return Err("cannot apply constraint because a point is at the center of the cylinder-z");
                }
                let gap = r - d;
                if f64::abs(gap) > 0.0 {
                    let move_x = gap * dx / d;
                    let move_y = gap * dy / d;
                    x[0] += move_x;
                    x[1] += move_y;
                    return Ok(true);
                }
            }
        }
        Ok(false)
    }
fn apply_constraint_3d ( & self , x : & mut Vector , ct : & Constraint3D ) -> Result < bool , StrError > { match ct { Constraint3D :: CylinderX ( yc , zc , r ) => { let dy = x [ 1 ] - yc ; let dz = x [ 2 ] - zc ; let d = f64 :: sqrt ( dy * dy + dz * dz ) ; if f64 :: abs ( d ) <= TOL_DISTANCE { return Err ( " " ) ; } let gap = r - d ; if f64 :: abs ( gap ) > 0.0 { let move_y = gap * dy / d ; let move_z = gap * dz / d ; x [ 1 ] += move_y ; x [ 2 ] += move_z ; return Ok ( true ) ; } } Constraint3D :: CylinderY ( xc , zc , r ) => { let dx = x [ 0 ] - xc ; let dz = x [ 2 ] - zc ; let d = f64 :: sqrt ( dx * dx + dz * dz ) ; if f64 :: abs ( d ) <= TOL_DISTANCE { return Err ( " " ) ; } let gap = r - d ; if f64 :: abs ( gap ) > 0.0 { let move_x = gap * dx / d ; let move_z = gap * dz / d ; x [ 0 ] += move_x ; x [ 2 ] += move_z ; return Ok ( true ) ; } } Constraint3D :: CylinderZ ( xc , yc , r ) => { let dx = x [ 0 ] - xc ; let dy = x [ 1 ] - yc ; let d = f64 :: sqrt ( dx * dx + dy * dy ) ; if f64 :: abs ( d ) <= TOL_DISTANCE { return Err ( " " ) ; } let gap = r - d ; if f64 :: abs ( gap ) > 0.0 { let move_x = gap * dx / d ; let move_y = gap * dy / d ; x [ 0 ] += move_x ; x [ 1 ] += move_y ; return Ok ( true ) ; } } } Ok ( false ) }
Applies 3D constraint
Returns true if the constraint has been applied; otherwise, returns false
Applies 3D constraint Returns true if the constraint has been applied ; otherwise returns false
&self
x
&mut Vector
ct
&Constraint3D
&self
x
&mut Vector
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&Constraint3D