Struct nphysics3d::solver::MoreauJeanSolver [−][src]
pub struct MoreauJeanSolver<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> { /* fields omitted */ }
Expand description
Moreau-Jean time-stepping scheme.
Implementations
impl<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> MoreauJeanSolver<N, Handle, CollHandle>
impl<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> MoreauJeanSolver<N, Handle, CollHandle>
Create a new time-stepping scheme with the given contact model.
Sets the contact model.
pub fn step<Colliders: ColliderSet<N, Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Handle>>(
&mut self,
counters: &mut Counters,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &Colliders,
joints: &mut Constraints,
manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>],
island: &[Handle],
island_joints: &[Constraints::Handle],
parameters: &IntegrationParameters<N>,
coefficients: &MaterialsCoefficientsTable<N>
)
pub fn step<Colliders: ColliderSet<N, Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Handle>>(
&mut self,
counters: &mut Counters,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &Colliders,
joints: &mut Constraints,
manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>],
island: &[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, Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Handle>>(
&mut self,
counters: &mut Counters,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &Colliders,
joints: &mut Constraints,
manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>],
ccd_bodies: &[Handle],
island: &[Handle],
island_joints: &[Constraints::Handle],
parameters: &IntegrationParameters<N>,
coefficients: &MaterialsCoefficientsTable<N>
)
pub fn step_ccd<Colliders: ColliderSet<N, Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Handle>>(
&mut self,
counters: &mut Counters,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &Colliders,
joints: &mut Constraints,
manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>],
ccd_bodies: &[Handle],
island: &[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.
Auto Trait Implementations
impl<N, Handle, CollHandle> !RefUnwindSafe for MoreauJeanSolver<N, Handle, CollHandle>
impl<N, Handle, CollHandle> Send for MoreauJeanSolver<N, Handle, CollHandle>
impl<N, Handle, CollHandle> Sync for MoreauJeanSolver<N, Handle, CollHandle>
impl<N, Handle, CollHandle> Unpin for MoreauJeanSolver<N, Handle, CollHandle> where
CollHandle: Unpin,
Handle: Unpin,
N: Unpin,
impl<N, Handle, CollHandle> !UnwindSafe for MoreauJeanSolver<N, Handle, CollHandle>
Blanket Implementations
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