Type Alias SimdSolverContact 

pub type SimdSolverContact = SolverContactGeneric<SimdReal, SIMD_WIDTH>;

A group of SIMD_WIDTH solver contacts stored in SoA fashion for SIMD optimizations.

Aliased Type

#[repr(C, align(16))]
pub struct SimdSolverContact {
    pub point: OPoint<f32, Const<2>>,
    pub dist: f32,
    pub friction: f32,
    pub restitution: f32,
    pub tangent_velocity: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>,
    pub warmstart_impulse: f32,
    pub warmstart_tangent_impulse: Matrix<f32, Const<1>, Const<1>, ArrayStorage<f32, 1, 1>>,
    pub warmstart_twist_impulse: f32,
    pub is_new: f32,
    pub contact_id: [u32; 1],
}

Fields

point: OPoint<f32, Const<2>>

The contact point in world-space.

dist: f32

The distance between the two original contacts points along the contact normal. If negative, this is measures the penetration depth.

friction: f32

The effective friction coefficient at this contact point.

restitution: f32

The effective restitution coefficient at this contact point.

tangent_velocity: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>

The desired tangent relative velocity at the contact point.

This is set to zero by default. Set to a non-zero value to simulate, e.g., conveyor belts.

warmstart_impulse: f32

Impulse used to warmstart the solve for the normal constraint.

warmstart_tangent_impulse: Matrix<f32, Const<1>, Const<1>, ArrayStorage<f32, 1, 1>>

Impulse used to warmstart the solve for the friction constraints.

warmstart_twist_impulse: f32

Impulse used to warmstart the solve for the twist friction constraints.

is_new: f32

Whether this contact existed during the last timestep.

A value of 0.0 means false and 1.0 means true. This isn’t a bool for optimizations purpose with SIMD.

contact_id: [u32; 1]

The index of the manifold contact used to generate this solver contact.

Implementations

impl SimdSolverContact

pub unsafe fn gather_unchecked( contacts: &[&[SolverContact]; 1], k: usize, ) -> Self