Struct oxygengine_physics_2d::prelude::solver::MoreauJeanSolver

pub struct MoreauJeanSolver<N, Handle, CollHandle>where
    N: RealField + Copy,
    Handle: BodyHandle,
    CollHandle: ColliderHandle,{ /* private fields */ }

Moreau-Jean time-stepping scheme.

Implementations

impl<N, Handle, CollHandle> MoreauJeanSolver<N, Handle, CollHandle>where N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle,

pub fn new( contact_model: Box<dyn ContactModel<N, Handle, CollHandle>, Global> ) -> MoreauJeanSolver<N, Handle, CollHandle>

Create a new time-stepping scheme with the given contact model.

pub fn set_contact_model( &mut self, model: Box<dyn ContactModel<N, Handle, CollHandle>, Global> )

Sets the contact model.

pub fn step<Colliders, Constraints>( &mut self, counters: &mut Counters, bodies: &mut dyn BodySet<N, Handle = Handle>, colliders: &Colliders, joints: &mut Constraints, manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>], island: &[Handle], island_joints: &[<Constraints as JointConstraintSet<N, Handle>>::Handle], parameters: &IntegrationParameters<N>, coefficients: &MaterialsCoefficientsTable<N> )where Colliders: ColliderSet<N, Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Handle>,

Perform one step of the time-stepping scheme.

pub fn step_ccd<Colliders, Constraints>( &mut self, counters: &mut Counters, bodies: &mut dyn BodySet<N, Handle = Handle>, colliders: &Colliders, joints: &mut Constraints, manifolds: &[ColliderContactManifold<'_, N, Handle, CollHandle>], ccd_bodies: &[Handle], island: &[Handle], island_joints: &[<Constraints as JointConstraintSet<N, Handle>>::Handle], parameters: &IntegrationParameters<N>, coefficients: &MaterialsCoefficientsTable<N> )where Colliders: ColliderSet<N, Handle, Handle = CollHandle>, Constraints: JointConstraintSet<N, Handle>,

Perform one sub-step of the time-stepping scheme as part of a CCD integration.