Struct DistanceConstraint 

pub struct DistanceConstraint {
    pub body_a: usize,
    pub body_b: usize,
    pub local_anchor_a: Vec3Fix,
    pub local_anchor_b: Vec3Fix,
    pub target_distance: Fix128,
    pub compliance: Fix128,
    pub cached_lambda: Fix128,
}

Distance constraint between two bodies

Fields

body_a: usize

Index of the first body

body_b: usize

Index of the second body

local_anchor_a: Vec3Fix

Anchor point in body A’s local space

local_anchor_b: Vec3Fix

Anchor point in body B’s local space

target_distance: Fix128

Target distance between anchors

compliance: Fix128

Inverse stiffness (0 = infinitely stiff)

cached_lambda: Fix128

XPBD Lagrange multiplier accumulated over the current substep.

Zeroed at the start of every substep and incremented by dlambda in each solve iteration (Macklin 2016), so the compliance term alpha~ * lambda sees the total force applied so far and the effective stiffness is independent of iterations. Before 1.2.0 it held only the last iteration’s increment and was carried across substeps.

Implementations

impl DistanceConstraint

pub const fn new( body_a: usize, body_b: usize, anchor_a: Vec3Fix, anchor_b: Vec3Fix, distance: Fix128, ) -> Self

Create a new distance constraint

pub const fn with_compliance(self, compliance: Fix128) -> Self

Set compliance (inverse stiffness)

Trait Implementations

impl Clone for DistanceConstraint

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for DistanceConstraint

impl Debug for DistanceConstraint

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for DistanceConstraint

impl PartialEq for DistanceConstraint

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for DistanceConstraint