fedoo.constraint.IPCContact.assemble_global_mat

IPCContact.assemble_global_mat(compute='all')

Recompute barrier contributions from cached vertex positions.

Called by the solver when the tangent matrix needs reassembly without a full update() cycle. Uses vertex positions cached by the most recent update() or set_start() call.

When rigid bodies are registered the scatter matrix depends on the current rigid rotation; the MPC coefficients have just been refreshed by update_boundary_conditions for this NR step, so refresh the scatter here too to keep the contact tangent consistent with the kinematic constraint.