Struct nphysics3d::solver::SignoriniCoulombPyramidModel [−][src]
Expand description
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
Trait Implementations
impl<N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle> ContactModel<N, Handle, CollHandle> for SignoriniCoulombPyramidModel<N>
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
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>
)
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.
Stores all the impulses found by the solver into a cache for warmstarting.
Auto Trait Implementations
impl<N> RefUnwindSafe for SignoriniCoulombPyramidModel<N> where
N: RefUnwindSafe,
impl<N> Send for SignoriniCoulombPyramidModel<N>
impl<N> Sync for SignoriniCoulombPyramidModel<N>
impl<N> Unpin for SignoriniCoulombPyramidModel<N> where
N: Unpin,
impl<N> UnwindSafe for SignoriniCoulombPyramidModel<N> where
N: UnwindSafe,
Blanket Implementations
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