fedoo.constraint.IPCSelfContact.update

IPCSelfContact.update(pb, compute='all')

Update the IPC assembly for the current Newton–Raphson iteration.

Rebuilds the collision set from the current vertex positions, re-initialises kappa if contacts appeared for the first time in an increment that started contact-free, enforces SDI (minimum NR sub-iterations) when the contact state changed or surfaces are dangerously close, and recomputes the barrier contributions.