Struct nphysics2d::solver::NonlinearUnilateralConstraint

pub struct NonlinearUnilateralConstraint<N: Real> {
    pub r: N,
    pub rhs: N,
    pub ndofs1: usize,
    pub body1: BodyHandle,
    pub ndofs2: usize,
    pub body2: BodyHandle,
    pub kinematic: ContactKinematic<N>,
    pub normal1: Unit<Vector<N>>,
    pub normal2: Unit<Vector<N>>,
}

A non-linear position-based non-penetration constraint.

Fields

r: N

The scaling parameter of the SOR-prox method.

rhs: N

The target position change this constraint must apply.

ndofs1: usize

Number of degree of freedom of the first body.

body1: BodyHandle

The first body affected by the constraint.

ndofs2: usize

Number of degree of freedom of the second body.

body2: BodyHandle

The second body affected by the constraint.

kinematic: ContactKinematic<N>

The kinematic information used to update the contact location.

normal1: Unit<Vector<N>>

The contact normal on the local space of self.body1.

normal2: Unit<Vector<N>>

The contact normal on the local space of self.body1.

Methods

impl<N: Real> NonlinearUnilateralConstraint<N>

pub fn new(     body1: BodyHandle,     ndofs1: usize,     body2: BodyHandle,     ndofs2: usize,     normal1: Unit<Vector<N>>,     normal2: Unit<Vector<N>>,     kinematic: ContactKinematic<N> ) -> Self

Create a new nonlinear position-based non-penetration constraint.