Struct SignoriniCoulombPyramidModel 

pub struct SignoriniCoulombPyramidModel<N: RealField + Copy> { /* private fields */ }

A contact model generating one non-penetration constraint and two friction constraints per contact.

This contact model approximates the friction cone at a contact with pyramid.

Implementations

impl<N: RealField + Copy> SignoriniCoulombPyramidModel<N>

pub fn new() -> Self

Initialize a new signorini-coulomb-pyramid contact model.

Trait Implementations

impl<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> ContactModel<N, Handle, CollHandle> for SignoriniCoulombPyramidModel<N>

fn num_velocity_constraints( &self, c: &ColliderContactManifold<'_, N, Handle, CollHandle>, ) -> usize

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

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>, )

Generate all constraints for the given contact manifolds.

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

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

impl<N: RealField + Copy> Default for SignoriniCoulombPyramidModel<N>

fn default() -> Self

Returns the “default value” for a type.