Interface ISolverContactPrestepAndImpulsesExtractor

Namespace

BepuPhysics.Constraints.Contact

Assembly

BepuPhysics.dll

Callbacks for direct references to the solver's contact constraint data. Includes only prestep and impulse data.

public interface ISolverContactPrestepAndImpulsesExtractor

Methods

ConvexOneBody<TPrestep, TAccumulatedImpulses>(ref TPrestep, ref TAccumulatedImpulses)

Provides a reference to a convex one body contact constraint. Constraint data is in the first lane of the direct reference (slot 0 of vectors).

void ConvexOneBody<TPrestep, TAccumulatedImpulses>(ref TPrestep prestep, ref TAccumulatedImpulses impulses) where TPrestep : struct, IConvexContactPrestep<TPrestep> where TAccumulatedImpulses : struct, IConvexContactAccumulatedImpulses<TAccumulatedImpulses>

Parameters

prestep TPrestep

Prestep data associated with the constraint.

impulses TAccumulatedImpulses

Accumulated impulses associated with the constraint.

Type Parameters

TPrestep

Type of the prestep data returned.

TAccumulatedImpulses

Type of the accumulated impulses data returned.

ConvexTwoBody<TPrestep, TAccumulatedImpulses>(ref TPrestep, ref TAccumulatedImpulses)

Provides a reference to a convex two body contact constraint. Constraint data is in the first lane of the direct reference (slot 0 of vectors).

void ConvexTwoBody<TPrestep, TAccumulatedImpulses>(ref TPrestep prestep, ref TAccumulatedImpulses impulses) where TPrestep : struct, ITwoBodyConvexContactPrestep<TPrestep> where TAccumulatedImpulses : struct, IConvexContactAccumulatedImpulses<TAccumulatedImpulses>

Parameters

prestep TPrestep

Prestep data associated with the constraint.

impulses TAccumulatedImpulses

Accumulated impulses associated with the constraint.

Type Parameters

TPrestep

Type of the prestep data returned.

TAccumulatedImpulses

Type of the accumulated impulses data returned.

NonconvexOneBody<TPrestep, TAccumulatedImpulses>(ref TPrestep, ref TAccumulatedImpulses)

Provides a reference to a nonconvex one body contact constraint. Constraint data is in the first lane of the direct reference (slot 0 of vectors).

void NonconvexOneBody<TPrestep, TAccumulatedImpulses>(ref TPrestep prestep, ref TAccumulatedImpulses impulses) where TPrestep : struct, INonconvexContactPrestep<TPrestep> where TAccumulatedImpulses : struct, INonconvexContactAccumulatedImpulses<TAccumulatedImpulses>

Parameters

prestep TPrestep

Prestep data associated with the constraint.

impulses TAccumulatedImpulses

Accumulated impulses associated with the constraint.

Type Parameters

TPrestep

Type of the prestep data returned.

TAccumulatedImpulses

Type of the accumulated impulses data returned.

NonconvexTwoBody<TPrestep, TAccumulatedImpulses>(ref TPrestep, ref TAccumulatedImpulses)

Provides a reference to a nonconvex two body contact constraint. Constraint data is in the first lane of the direct reference (slot 0 of vectors).

void NonconvexTwoBody<TPrestep, TAccumulatedImpulses>(ref TPrestep prestep, ref TAccumulatedImpulses impulses) where TPrestep : struct, ITwoBodyNonconvexContactPrestep<TPrestep> where TAccumulatedImpulses : struct, INonconvexContactAccumulatedImpulses<TAccumulatedImpulses>

Parameters

prestep TPrestep

Prestep data associated with the constraint.

impulses TAccumulatedImpulses

Accumulated impulses associated with the constraint.

Type Parameters

TPrestep

Type of the prestep data returned.

TAccumulatedImpulses

Type of the accumulated impulses data returned.