Class ContactSolver


  • public class ContactSolver
    extends java.lang.Object
    • Constructor Detail

      • ContactSolver

        public ContactSolver()
    • Method Detail

      • warmStart

        public void warmStart()
      • initializeVelocityConstraints

        public final void initializeVelocityConstraints()
      • solveVelocityConstraints

        public final void solveVelocityConstraints()
      • storeImpulses

        public void storeImpulses()
      • solvePositionConstraints

        public final boolean solvePositionConstraints()
        Sequential solver.
      • solveTOIPositionConstraints

        public boolean solveTOIPositionConstraints​(int toiIndexA,
                                                   int toiIndexB)