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ContactSetup

phyz_diff::rollout::adjoint

Struct ContactSetup 

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pub struct ContactSetup<'a> {
    pub ground: GroundContact,
    pub meshes: &'a [CollisionMesh],
}
Expand description

Ground contact configuration for an adjoint rollout: the plane and the collision skins that feel it.

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§ground: GroundContact

The ground plane and penalty law.

§meshes: &'a [CollisionMesh]

Collision skins (body-frame vertices), one entry per skinned body.

Auto Trait Implementations§

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impl<'a> Freeze for ContactSetup<'a>

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impl<'a> RefUnwindSafe for ContactSetup<'a>

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impl<'a> Send for ContactSetup<'a>

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impl<'a> Sync for ContactSetup<'a>

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impl<'a> Unpin for ContactSetup<'a>

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impl<'a> UnsafeUnpin for ContactSetup<'a>

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impl<'a> UnwindSafe for ContactSetup<'a>

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