Struct nphysics2d::solver::SignoriniModel [−][src]
pub struct SignoriniModel<N: RealField> { /* fields omitted */ }
Expand description
A contact model generating one non-penetration constraint per contact.
This is a frictionless contact model.
Implementations
pub fn build_velocity_constraint<B: Body<N> + ?Sized, Handle: BodyHandle, CollHandle: ColliderHandle>(
parameters: &IntegrationParameters<N>,
body1: &B,
part1: &dyn BodyPart<N>,
handle1: BodyPartHandle<Handle>,
body2: &B,
part2: &dyn BodyPart<N>,
handle2: BodyPartHandle<Handle>,
props: &LocalMaterialProperties<N>,
manifold: &ColliderContactManifold<'_, N, Handle, CollHandle>,
ext_vels: &DVector<N>,
c: &TrackedContact<N>,
impulse: N,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, Handle, CollHandle, ContactId>
) -> bool
pub fn build_velocity_constraint<B: Body<N> + ?Sized, Handle: BodyHandle, CollHandle: ColliderHandle>(
parameters: &IntegrationParameters<N>,
body1: &B,
part1: &dyn BodyPart<N>,
handle1: BodyPartHandle<Handle>,
body2: &B,
part2: &dyn BodyPart<N>,
handle2: BodyPartHandle<Handle>,
props: &LocalMaterialProperties<N>,
manifold: &ColliderContactManifold<'_, N, Handle, CollHandle>,
ext_vels: &DVector<N>,
c: &TrackedContact<N>,
impulse: N,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, Handle, CollHandle, ContactId>
) -> boolBuild a non-penetration velocity-based constraint for the given contact.
pub fn is_constraint_active<Handle: BodyHandle, CollHandle: ColliderHandle>(
c: &TrackedContact<N>,
manifold: &ColliderContactManifold<'_, N, Handle, CollHandle>
) -> bool
pub fn is_constraint_active<Handle: BodyHandle, CollHandle: ColliderHandle>(
c: &TrackedContact<N>,
manifold: &ColliderContactManifold<'_, N, Handle, CollHandle>
) -> boolChecks if the given constraint is active.
pub fn build_position_constraint<Handle: BodyHandle, CollHandle: ColliderHandle>(
bodies: &dyn BodySet<N, Handle = Handle>,
manifold: &ColliderContactManifold<'_, N, Handle, CollHandle>,
c: &TrackedContact<N>,
constraints: &mut ConstraintSet<N, Handle, CollHandle, ContactId>
)
pub fn build_position_constraint<Handle: BodyHandle, CollHandle: ColliderHandle>(
bodies: &dyn BodySet<N, Handle = Handle>,
manifold: &ColliderContactManifold<'_, N, Handle, CollHandle>,
c: &TrackedContact<N>,
constraints: &mut ConstraintSet<N, Handle, CollHandle, ContactId>
)Builds non-linear position-based non-penetration constraints for the given contact manifold.
Trait Implementations
impl<N: RealField, Handle: BodyHandle, CollHandle: ColliderHandle> ContactModel<N, Handle, CollHandle> for SignoriniModel<N>
impl<N: RealField, Handle: BodyHandle, CollHandle: ColliderHandle> ContactModel<N, Handle, CollHandle> for SignoriniModel<N>fn num_velocity_constraints(
&self,
c: &ColliderContactManifold<'_, N, Handle, CollHandle>
) -> usize
fn num_velocity_constraints(
&self,
c: &ColliderContactManifold<'_, N, Handle, CollHandle>
) -> usizeMaximum number of velocity constraint to be generated for each contact.
fn constraints(
&mut self,
parameters: &IntegrationParameters<N>,
coefficients: &MaterialsCoefficientsTable<N>,
bodies: &dyn BodySet<N, Handle = Handle>,
ext_vels: &DVector<N>,
manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>],
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, Handle, CollHandle, ContactId>
)
fn constraints(
&mut self,
parameters: &IntegrationParameters<N>,
coefficients: &MaterialsCoefficientsTable<N>,
bodies: &dyn BodySet<N, Handle = Handle>,
ext_vels: &DVector<N>,
manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>],
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N, Handle, CollHandle, ContactId>
)Generate all constraints for the given contact manifolds.
Stores all the impulses found by the solver into a cache for warmstarting.
Auto Trait Implementations
impl<N> RefUnwindSafe for SignoriniModel<N> where
N: RefUnwindSafe, impl<N> Send for SignoriniModel<N>impl<N> Sync for SignoriniModel<N>impl<N> Unpin for SignoriniModel<N> where
N: Unpin, impl<N> UnwindSafe for SignoriniModel<N> where
N: UnwindSafe, Blanket Implementations
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type Output = T
type Output = TShould always be Self
The inverse inclusion map: attempts to construct self from the equivalent element of its
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Checks if self is actually part of its subset T (and can be converted to it).
Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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