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ContactGenerationKernel

oxiphysics_gpu::kernels::rigid::types

Struct ContactGenerationKernel

pub struct ContactGenerationKernel;

Expand description

Contact generation kernel: generates contact points between sphere-shaped bodies.

Implementations§

impl ContactGenerationKernel

pub fn generate_sphere_contacts( positions: &[[f64; 3]], radii: &[f64], pairs: &[(usize, usize)], ) -> Vec<ContactPoint>

Generate contacts between sphere bodies.

positions[i] is the position of body i. radii[i] is the radius of body i. pairs is the list of potentially overlapping pairs from broadphase.

pub fn resolve_contacts( positions: &mut [[f64; 3]], velocities: &mut [[f64; 3]], inv_masses: &[f64], contacts: &[ContactPoint], restitution: f64, )

Apply contact impulses to resolve penetration.

Uses a simple position-correction approach.

Auto Trait Implementations§

impl Freeze for ContactGenerationKernel

impl RefUnwindSafe for ContactGenerationKernel

impl Send for ContactGenerationKernel

impl Sync for ContactGenerationKernel

impl Unpin for ContactGenerationKernel

impl UnsafeUnpin for ContactGenerationKernel

impl UnwindSafe for ContactGenerationKernel

Blanket Implementations§

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