ContactConstraint Class

Defines a constraint at a rigid body contact that models non-penetration, dry friction and bounciness.

Inheritance Hierarchy

SystemObject
DigitalRune.Physics.ConstraintsContactConstraint

Namespace: DigitalRune.Physics.Constraints
Assembly: DigitalRune.Physics (in DigitalRune.Physics.dll) Version: 1.10.0.0 (1.10.0.14427)

Syntax

C++

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public sealed class ContactConstraint : IConstraint

Public NotInheritable Class ContactConstraint
	Implements IConstraint

public ref class ContactConstraint sealed : IConstraint

[<SealedAttribute>]
type ContactConstraint =  
    class
        interface IConstraint
    end

The ContactConstraint type exposes the following members.

Methods

	Name	Description
	ApplyImpulse	Called by the simulation to apply an impulse that satisfies the constraint.
	Equals	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	GetHashCode	Serves as a hash function for a particular type. (Inherited from Object.)
	GetType	Gets the Type of the current instance. (Inherited from Object.)
	Setup	Called by the simulation to prepare this constraint for constraint solving for a new time step.
	ToString	Returns a string that represents the current object. (Inherited from Object.)

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Properties

	Name	Description
	BodyA	Gets the first body.
	BodyB	Gets the second body.
	Contact	Gets the contact.
	ErrorReduction	Gets or sets the error reduction parameter.
	LinearConstraintImpulse	Gets or sets the linear constraint impulse that was applied.
	Simulation	Gets the simulation to which this constraint belongs.

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Explicit Interface Implementations

	Name	Description
	IConstraintAngularConstraintImpulse	Gets or sets the angular constraint impulse that was applied.
	IConstraintCollisionEnabled	Gets a value indicating whether collisions between BodyA and BodyB are disabled.
	IConstraintEnabled	Gets a value indicating whether this constraint is enabled.

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Remarks

The simulation automatically creates ContactConstraints for all contacts that are found by the collision detection and where collision response is enabled.

The property Contact.UserData is used by the simulation to store references to the ContactConstraint instances. Therefore, the UserData property of contacts between rigid bodies must not be changed. In other words, the relationship between contacts and contact constraints is:

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myContactConstraint.Contact == myContact
myContact.UserData == myContactConstraint

Reference

DigitalRune.Physics.Constraints Namespace