Module contact_solver 

Contact constraint kernels from contact_solver.c.

Graph-color convex contacts use the Convex kernels (scalar form of the wide SIMD path). Mesh and overflow contacts use the Mesh kernels.

SPDX-FileCopyrightText: 2025 Erin Catto SPDX-License-Identifier: MIT

Structs

ContactConstraint

(b3ContactConstraint)

ManifoldConstraint

(b3ManifoldConstraint)

ManifoldConstraintPoint

(b3ManifoldConstraintPoint)

Functions

apply_restitution

(b3ApplyRestitution_Mesh)

apply_restitution_convex

Scalar form of b3ApplyRestitution_Convex (symmetric inertia multiply).

flag_hit_events

Flag hit-event candidates after impulses are stored. (hit-event part of b3StoreImpulses_Mesh for colored contacts)

prepare_color_contacts

Prepare convex then mesh contacts into one constraint Vec.

solve_contacts

Merged normal and friction loops. (b3SolveContacts_Mesh)

solve_contacts_convex

Scalar equivalent of b3SolveContacts_Convex for graph-color convex contacts.

store_impulses

Write impulses from constraints onto world contacts. (b3StoreImpulses_Mesh — impulse writeback; hit-event flagging is separate)

warm_start_contacts

(b3WarmStartContacts_Mesh)

warm_start_contacts_convex

(b3WarmStartContacts_Convex) — SymMatrix inertia multiply.