Crate phyz_contact 

Contact dynamics and soft contact resolution for phyz physics engine.

Implements MuJoCo-style soft contacts using penalty forces.

Re-exports

pub use assemble::ContactAssembly;

pub use assemble::assemble;

pub use assemble::contact_wrenches;

pub use assemble::generalized_impulse;

pub use cache::ContactCache;

pub use cache::ContactKey;

pub use cone::contact_frame;

pub use cone::in_cone;

pub use cone::in_cone_interior;

pub use cone::project_cone;

pub use convex::ContactCoupling;

pub use convex::ContactProblem;

pub use convex::ContactRow;

pub use convex::ContactSolution;

pub use convex::ContactSolverConfig;

pub use convex::GPU_SWEEPS;

pub use convex::regularization_depth_derivative;

pub use convex::regularization_diag;

pub use convex::solve_contacts;

pub use convex::solve_contacts_warm;

pub use solver::CYL_AXIS_EPS;

pub use solver::GroundSupport;

pub use solver::cylinder_rim_basis;

pub use solver::cylinder_rim_dir;

pub use solver::find_contacts;

pub use solver::find_ground_contacts;

pub use solver::find_ground_contacts_model;

pub use solver::find_ground_contacts_model_with_drop;

pub use solver::find_ground_contacts_model_with_offset;

pub use solver::find_ground_contacts_model_with_support;

pub use solver::find_heightfield_contacts_model;

pub use solver::find_heightfield_contacts_model_with_drop;

pub use solver::find_heightfield_contacts_model_with_support;

pub use solver::contact_forces;Deprecated

pub use solver::contact_forces_implicit;Deprecated

Modules

assemble

Assemble a ContactProblem from a model, a state, and a contact set.

cache

Contact persistence across timesteps, for warm starting the solve.

cone

Second-order (Coulomb) friction cone.

convex

Convex soft-contact solve.

gradient

Gradients of the contact solve, by the implicit function theorem.

material

Contact material properties.

solver

Contact detection and force computation.

Structs

ContactMaterial

Material properties for contact interactions.

SolImp

MuJoCo-style solimp: constraint impedance as a function of the violation.

SolRef

MuJoCo-style solref: the reference response of a violated constraint.

Functions

compute_contact_forceDeprecated

Compute contact force for a single collision.

compute_contact_force_implicitDeprecated

Compute a contact force using implicit damping (and implicit stiffness) based on the post-step velocity of the contact pair, rather than the current-step velocity used by compute_contact_force.