Struct nphysics3d::solver::MoreauJeanSolver

pub struct MoreauJeanSolver<N: RealField, Bodies: BodySet<N>, CollHandle: ColliderHandle> { /* fields omitted */ }

Moreau-Jean time-stepping scheme.

Methods

impl<N: RealField, Bodies: BodySet<N>, CollHandle: ColliderHandle> MoreauJeanSolver<N, Bodies, CollHandle>

pub fn new(contact_model: Box<dyn ContactModel<N, Bodies, CollHandle>>) -> Self

Create a new time-stepping scheme with the given contact model.

pub fn set_contact_model(
    &mut self,
    model: Box<dyn ContactModel<N, Bodies, CollHandle>>
)

Sets the contact model.

pub fn step<Colliders: ColliderSet<N, Bodies::Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Bodies>>(
    &mut self,
    counters: &mut Counters,
    bodies: &mut Bodies,
    colliders: &Colliders,
    joints: &mut Constraints,
    manifolds: &[ColliderContactManifold<N, Bodies::Handle, CollHandle>],
    island: &[Bodies::Handle],
    island_joints: &[Constraints::Handle],
    parameters: &IntegrationParameters<N>,
    coefficients: &MaterialsCoefficientsTable<N>
)

Perform one step of the time-stepping scheme.

pub fn step_ccd<Colliders: ColliderSet<N, Bodies::Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Bodies>>(
    &mut self,
    counters: &mut Counters,
    bodies: &mut Bodies,
    colliders: &Colliders,
    joints: &mut Constraints,
    manifolds: &[ColliderContactManifold<N, Bodies::Handle, CollHandle>],
    ccd_bodies: &[Bodies::Handle],
    island: &[Bodies::Handle],
    island_joints: &[Constraints::Handle],
    parameters: &IntegrationParameters<N>,
    coefficients: &MaterialsCoefficientsTable<N>
)

Perform one sub-step of the time-stepping scheme as part of a CCD integration.