Struct nphysics3d::solver::SignoriniModel

pub struct SignoriniModel<N: RealField> { /* fields omitted */ }

A contact model generating one non-penetration constraint per contact.

This is a frictionless contact model.

Implementations

impl<N: RealField> SignoriniModel<N>

pub fn new() -> Self

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

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

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>
)

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>

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.