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novaphy.apply_particle_contact_reactions

Apply equal-and-opposite particle velocity reactions from the Contacts.soft_contact_* channel generated by CollisionPipeline.collide.

def apply_particle_contact_reactions(
    contacts: Contacts,
    model: Model,
    state: SimState,
    dt: float,
) -> None

Parameters

Parameter Description
contacts Aggregate whose soft-contact channel will be consumed.
model Bound Model.
state Mutable SimState whose particle velocities may be updated.
dt Step size used to convert contact response into velocity changes.

The helper does not run collision and does not emit rigid contacts; call CollisionPipeline.collide(state, contacts) first when particle / rigid contacts are needed.

See Also