Expand description
Contact material properties.
A ContactMaterial is attached to a crate::Body via
crate::Body::material, and crate::Model::contact_materials turns
those into the per-body slice the contact solver assembles against. Bodies
that carry None take the scene material, so a model that sets nothing is
unchanged.
Read ContactMaterial::combine before choosing which body gets a
material: friction combines by max, so a grippy body grips everything it
touches, not only the surface you had in mind.
Structsยง
- Contact
Material - 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.