Struct oxygengine_physics_2d::prelude::solver::SignoriniModel

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

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

This is a frictionless contact model.

Implementations

impl<N> SignoriniModel<N> where
    N: RealField, 

pub fn new() -> SignoriniModel<N>

Create a new Signorini contact model.

pub fn build_velocity_constraint<B, Handle, CollHandle>(
    parameters: &IntegrationParameters<N>,
    body1: &B,
    part1: &(dyn BodyPart<N> + 'static),
    handle1: BodyPartHandle<Handle>,
    body2: &B,
    part2: &(dyn BodyPart<N> + 'static),
    handle2: BodyPartHandle<Handle>,
    props: &LocalMaterialProperties<N>,
    manifold: &ColliderContactManifold<N, Handle, CollHandle>,
    ext_vels: &Matrix<N, Dynamic, U1, VecStorage<N, Dynamic, U1>>,
    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 where
    B: Body<N> + ?Sized,
    CollHandle: ColliderHandle,
    Handle: BodyHandle, 

Build a non-penetration velocity-based constraint for the given contact.

pub fn is_constraint_active<Handle, CollHandle>(
    c: &TrackedContact<N>,
    manifold: &ColliderContactManifold<N, Handle, CollHandle>
) -> bool where
    CollHandle: ColliderHandle,
    Handle: BodyHandle, 

Checks if the given constraint is active.

pub fn build_position_constraint<Handle, CollHandle>(
    bodies: &dyn BodySet<N, Handle = Handle>,
    manifold: &ColliderContactManifold<N, Handle, CollHandle>,
    c: &TrackedContact<N>,
    constraints: &mut ConstraintSet<N, Handle, CollHandle, ContactId>
) where
    CollHandle: ColliderHandle,
    Handle: BodyHandle, 

Builds non-linear position-based non-penetration constraints for the given contact manifold.

Trait Implementations

impl<N, Handle, CollHandle> ContactModel<N, Handle, CollHandle> for SignoriniModel<N> where
    CollHandle: ColliderHandle,
    Handle: BodyHandle,
    N: RealField, 

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: &Matrix<N, Dynamic, U1, VecStorage<N, Dynamic, U1>>,
    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.