C# Class BEPUphysics.Constraints.Collision.NonConvexContactManifoldConstraint

Collision constraint for non-convex manifolds. These manifolds are usually used in cases where the contacts are coming from multiple objects or from non-convex objects. The normals will likely face more than one direction.

Inheritance: ContactManifoldConstraint

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Public Methods

Method	Description
AddContact ( Contact contact ) : void	Adds a contact to be managed by the constraint.
CleanUp ( ) : void	Cleans up the 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.
NonConvexContactManifoldConstraint ( ) : BEPUphysics.CollisionTests	Constructs a new nonconvex manifold constraint.
RemoveContact ( Contact contact ) : void	Removes a contact from the constraint.
SolveIteration ( ) : float	Computes one iteration of the constraint to meet the solver updateable's goal.
Update ( float dt ) : void	Performs the frame's configuration step.

Method Details

AddContact() public method

Adds a contact to be managed by the constraint.

public AddContact ( Contact contact ) : void
contact	BEPUphysics.CollisionTests.Contact	Contact to add.
return	void

CleanUp() public method

Cleans up the constraint.

public CleanUp ( ) : void
return	void

ExclusiveUpdate() public final 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 final ExclusiveUpdate ( ) : void
return	void

NonConvexContactManifoldConstraint() public method

Constructs a new nonconvex manifold constraint.

public NonConvexContactManifoldConstraint ( ) : BEPUphysics.CollisionTests
return	BEPUphysics.CollisionTests

RemoveContact() public method

Removes a contact from the constraint.

public RemoveContact ( Contact contact ) : void
contact	BEPUphysics.CollisionTests.Contact	Contact to remove.
return	void

SolveIteration() public final method

Computes one iteration of the constraint to meet the solver updateable's goal.

public final SolveIteration ( ) : float
return	float

Update() public final method

Performs the frame's configuration step.

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