[−][src]Struct nphysics2d::solver::SignoriniModel
A contact model generating one non-penetration constraint per contact.
This is a frictionless contact model.
Implementations
impl<N: RealField> SignoriniModel<N>
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pub fn new() -> Self
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Create a new Signorini contact model.
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
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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
Build 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
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c: &TrackedContact<N>,
manifold: &ColliderContactManifold<N, Handle, CollHandle>
) -> bool
Checks 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>
)
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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>
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fn num_velocity_constraints(
&self,
c: &ColliderContactManifold<N, Handle, CollHandle>
) -> usize
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&self,
c: &ColliderContactManifold<N, Handle, CollHandle>
) -> usize
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>
)
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&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 cache_impulses(
&mut self,
constraints: &ConstraintSet<N, Handle, CollHandle, ContactId>
)
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&mut self,
constraints: &ConstraintSet<N, Handle, CollHandle, ContactId>
)
Auto Trait Implementations
impl<N> RefUnwindSafe for SignoriniModel<N> where
N: RefUnwindSafe,
N: RefUnwindSafe,
impl<N> Send for SignoriniModel<N>
impl<N> Sync for SignoriniModel<N>
impl<N> Unpin for SignoriniModel<N> where
N: Unpin,
N: Unpin,
impl<N> UnwindSafe for SignoriniModel<N> where
N: UnwindSafe,
N: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,