Struct nphysics3d::solver::SignoriniCoulombPyramidModel

pub struct SignoriniCoulombPyramidModel<N: RealField> { /* fields omitted */ }

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.

Methods

impl<N: RealField> SignoriniCoulombPyramidModel<N>

pub fn new() -> Self

Initialize a new signorini-coulomb-pyramid contact model.

Trait Implementations

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

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: &DVector<N>,
    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: RealField> Default for SignoriniCoulombPyramidModel<N>

fn default() -> Self

Returns the "default value" for a type.