C# Class BEPUphysics.Constraints.Collision.ContactPenetrationConstraint

Computes the forces necessary to keep two entities from going through each other at a contact point.

Inheritance: EntitySolverUpdateable

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Public Methods

Method	Description
CleanUp ( ) : void	Cleans up the constraint.
ContactPenetrationConstraint ( ) : BEPUphysics.Entities	Constructs a new penetration constraint.
ExclusiveUpdate ( ) : void	Performs any pre-solve iteration work that needs exclusive access to the members of the solver updateable. Usually, this is used for applying warmstarting impulses.
Setup ( ContactManifoldConstraint contactManifoldConstraint, Contact contact ) : void	Configures the penetration constraint.
SolveIteration ( ) : float	Computes and applies an impulse to keep the colliders from penetrating.
Update ( float dt ) : void	Performs the frame's configuration step.

Protected Methods

Method	Description
CollectInvolvedEntities ( RawList outputInvolvedEntities ) : void

Method Details

CleanUp() public method

Cleans up the constraint.

public CleanUp ( ) : void
return	void

CollectInvolvedEntities() protected method

protected CollectInvolvedEntities ( RawList outputInvolvedEntities ) : void
outputInvolvedEntities	RawList
return	void

ContactPenetrationConstraint() public method

Constructs a new penetration constraint.

public ContactPenetrationConstraint ( ) : BEPUphysics.Entities
return	BEPUphysics.Entities

ExclusiveUpdate() public method

Performs any pre-solve iteration work that needs exclusive access to the members of the solver updateable. Usually, this is used for applying warmstarting impulses.

public ExclusiveUpdate ( ) : void
return	void

Setup() public method

Configures the penetration constraint.

public Setup ( ContactManifoldConstraint contactManifoldConstraint, Contact contact ) : void
contactManifoldConstraint	ContactManifoldConstraint	Owning manifold constraint.
contact	BEPUphysics.CollisionTests.Contact	Contact associated with the penetration constraint.
return	void

SolveIteration() public method

Computes and applies an impulse to keep the colliders from penetrating.

public SolveIteration ( ) : float
return	float

Update() public method

Performs the frame's configuration step.

public Update ( float dt ) : void
dt	float	Timestep duration.
return	void