[−][src]Struct nphysics3d::solver::SignoriniModel
A contact model generating one non-penetration constraint per contact.
This is a frictionless contact model.
Methods
impl<N: RealField> SignoriniModel<N>[src]
pub fn new() -> Self[src]
Create a new Signorini contact model.
pub fn build_velocity_constraint(
params: &IntegrationParameters<N>,
body1: &dyn Body<N>,
part1: &dyn BodyPart<N>,
body2: &dyn Body<N>,
part2: &dyn BodyPart<N>,
props: &LocalMaterialProperties<N>,
manifold: &ColliderContactManifold<N>,
ext_vels: &DVector<N>,
c: &TrackedContact<N>,
impulse: N,
impulse_id: usize,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N>
) -> bool[src]
params: &IntegrationParameters<N>,
body1: &dyn Body<N>,
part1: &dyn BodyPart<N>,
body2: &dyn Body<N>,
part2: &dyn BodyPart<N>,
props: &LocalMaterialProperties<N>,
manifold: &ColliderContactManifold<N>,
ext_vels: &DVector<N>,
c: &TrackedContact<N>,
impulse: N,
impulse_id: usize,
ground_j_id: &mut usize,
j_id: &mut usize,
jacobians: &mut [N],
constraints: &mut ConstraintSet<N>
) -> bool
Build a non-penetration velocity-based constraint for the given contact.
pub fn is_constraint_active(
c: &TrackedContact<N>,
manifold: &ColliderContactManifold<N>
) -> bool[src]
c: &TrackedContact<N>,
manifold: &ColliderContactManifold<N>
) -> bool
Checks if the given constraint is active.
pub fn build_position_constraint(
bodies: &BodySet<N>,
manifold: &ColliderContactManifold<N>,
c: &TrackedContact<N>,
constraints: &mut ConstraintSet<N>
)[src]
bodies: &BodySet<N>,
manifold: &ColliderContactManifold<N>,
c: &TrackedContact<N>,
constraints: &mut ConstraintSet<N>
)
Builds non-linear position-based non-penetration constraints for the given contact manifold.
Trait Implementations
impl<N: RealField> ContactModel<N> for SignoriniModel<N>[src]
fn num_velocity_constraints(&self, c: &ColliderContactManifold<N>) -> usize[src]
fn constraints(
&mut self,
params: &IntegrationParameters<N>,
coefficients: &MaterialsCoefficientsTable<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>
)[src]
&mut self,
params: &IntegrationParameters<N>,
coefficients: &MaterialsCoefficientsTable<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>)[src]
Auto Trait Implementations
impl<N> Send for SignoriniModel<N>
impl<N> Sync for SignoriniModel<N>
Blanket Implementations
impl<T, U> Into for T where
U: From<T>, [src]
U: From<T>,
impl<T> From for T[src]
impl<T, U> TryFrom for T where
U: Into<T>, [src]
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>[src]
impl<T> Borrow for T where
T: ?Sized, [src]
T: ?Sized,
impl<T> Any for T where
T: 'static + ?Sized, [src]
T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized, [src]
T: ?Sized,
fn borrow_mut(&mut self) -> &mut T[src]
impl<T, U> TryInto for T where
U: TryFrom<T>, [src]
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>[src]
impl<T> Downcast for T where
T: Any, [src]
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>[src]
fn as_any(&self) -> &(dyn Any + 'static)[src]
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)[src]
impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>, [src]
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>[src]
fn is_in_subset(&self) -> bool[src]
unsafe fn to_subset_unchecked(&self) -> SS[src]
fn from_subset(element: &SS) -> SP[src]
impl<T> Same for T
type Output = T
Should always be Self