Struct SignoriniModel 

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

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

This is a frictionless contact model.

Implementations

impl<N> SignoriniModel<N>

where N: RealField + Copy,

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, Const<1>, VecStorage<N, Dynamic, Const<1>>>, 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, Handle: BodyHandle, CollHandle: ColliderHandle,

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 Handle: BodyHandle, CollHandle: ColliderHandle,

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 Handle: BodyHandle, CollHandle: ColliderHandle,

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 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.