Trait nphysics2d::solver::ContactModel

pub trait ContactModel<N: Real>: Any + Send + Sync {
    fn num_velocity_constraints(
        &self, 
        manifold: &ColliderContactManifold<N>
    ) -> usize;
    fn constraints(
        &mut self, 
        params: &IntegrationParameters<N>, 
        bodies: &BodySet<N>, 
        ext_vels: &DVector<N>, 
        manifolds: &[ColliderContactManifold<N>], 
        ground_j_id: &mut usize, 
        j_id: &mut usize, 
        jacobians: &mut [N], 
        constraints: &mut ConstraintSet<N>
    );
    fn cache_impulses(&mut self, constraints: &ConstraintSet<N>);
}

The modeling of a contact.

Required Methods

fn num_velocity_constraints(
    &self,
    manifold: &ColliderContactManifold<N>
) -> usize

Maximum number of velocity constraint to be generated for each contact.

fn constraints(
    &mut self,
    params: &IntegrationParameters<N>,
    bodies: &BodySet<N>,
    ext_vels: &DVector<N>,
    manifolds: &[ColliderContactManifold<N>],
    ground_j_id: &mut usize,
    j_id: &mut usize,
    jacobians: &mut [N],
    constraints: &mut ConstraintSet<N>
)

Generate all constraints for the given contact manifolds.

fn cache_impulses(&mut self, constraints: &ConstraintSet<N>)

Stores all the impulses found by the solver into a cache for warmstarting.

Methods

impl<N> ContactModel<N> where     N: Real,

pub fn is<_T>(&self) -> bool where     _T: Any,     Self: Downcast<_T>,

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_ref_unchecked<_T>(&self) -> &_T where     _T: Any,     Self: Downcast<_T>,

pub fn downcast_ref<_T>(&self) -> Result<&_T, TypeMismatch> where     _T: Any,     Self: Downcast<_T>,

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_mut_unchecked<_T>(&mut self) -> &mut _T where     _T: Any,     Self: Downcast<_T>,

pub fn downcast_mut<_T>(&mut self) -> Result<&mut _T, TypeMismatch> where     _T: Any,     Self: Downcast<_T>,

Important traits for Box<R>

impl<R> Read for Box<R> where
    R: Read + ?Sized, impl<W> Write for Box<W> where
    W: Write + ?Sized, impl<I> Iterator for Box<I> where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

pub unsafe fn downcast_unchecked<_T>(self: Box<Self>) -> Box<_T> where     _T: Any,     Self: Downcast<_T>,

pub fn downcast<_T>(     self: Box<Self> ) -> Result<Box<_T>, DowncastError<Box<Self>>> where     _T: Any,     Self: Downcast<_T>,

Trait Implementations

impl<_T: Any, N> Downcast<_T> for ContactModel<N> where     _T: Any,     N: 'static,     N: Real,

fn is_type(&self) -> bool

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_ref_unchecked(&self) -> &T

fn downcast_ref(&self) -> Result<&T, TypeMismatch>

Important traits for &'a mut R

impl<'a, R> Read for &'a mut R where
    R: Read + ?Sized, impl<'a, W> Write for &'a mut W where
    W: Write + ?Sized, impl<'a, I> Iterator for &'a mut I where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_mut_unchecked(&mut self) -> &mut T

fn downcast_mut(&mut self) -> Result<&mut T, TypeMismatch>

Important traits for Box<R>

impl<R> Read for Box<R> where
    R: Read + ?Sized, impl<W> Write for Box<W> where
    W: Write + ?Sized, impl<I> Iterator for Box<I> where
    I: Iterator + ?Sized,  type Item = <I as Iterator>::Item;

unsafe fn downcast_unchecked(self: Box<Self>) -> Box<T>

fn downcast(self: Box<Self>) -> Result<Box<T>, DowncastError<Box<Self>>>

Implementors

• impl<N: Real> ContactModel<N> for SignoriniCoulombPyramidModel<N>

• impl<N: Real> ContactModel<N> for SignoriniModel<N>