Module bevy_xpbd_3d::plugins::solver

Solves positional and angular constraints, updates velocities and solves velocity constraints (dynamic friction, restitution and joint damping).

See SolverPlugin.

Structs

• PenetrationConstraints
  Stores penetration constraints for colliding entity pairs.
• SolverPlugin
  Solves positional and angular constraints, updates velocities and solves velocity constraints (dynamic friction and restitution and joint damping).

Functions

• joint_damping
  Applies velocity corrections caused by joint damping.
• solve_constraint
  Iterates through the constraints of a given type and solves them. Sleeping bodies are woken up when active bodies interact with them in a constraint.