Struct oxygengine_physics_2d::prelude::solver::SignoriniCoulombPyramidModel

pub struct SignoriniCoulombPyramidModel<N>where
    N: RealField + Copy,{ /* private fields */ }

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

impl<N> SignoriniCoulombPyramidModel<N>where N: RealField + Copy,

pub fn new() -> SignoriniCoulombPyramidModel<N>

Initialize a new signorini-coulomb-pyramid contact model.

Trait Implementations

impl<N, Handle, CollHandle> ContactModel<N, Handle, CollHandle> for SignoriniCoulombPyramidModel<N>where N: RealField + Copy, Handle: BodyHandle, CollHandle: ColliderHandle,

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, Const<1>, VecStorage<N, Dynamic, Const<1>>>, 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.

impl<N> Default for SignoriniCoulombPyramidModel<N>where N: RealField + Copy,

fn default() -> SignoriniCoulombPyramidModel<N>

Returns the “default value” for a type.