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