Struct bevy_xpbd_3d::plugins::solver::SolverPlugin
source · pub struct SolverPlugin;
Expand description
Solves positional and angular constraints, updates velocities and solves velocity constraints (dynamic friction and restitution and joint damping).
§Steps
Below are the three main steps of the SolverPlugin
.
-
Constraint projection: Constraints are handled by looping through them and applying positional and angular corrections to the bodies in order to satisfy the constraints. Runs in
SubstepSet::SolveConstraints
andSubstepSet::SolveUserConstraints
. -
Velocity update: The velocities of bodies are updated based on positional and rotational changes from the last step. Runs in
SubstepSet::UpdateVelocities
. -
Velocity solve: Velocity corrections caused by dynamic friction, restitution and joint damping are applied. Runs in
SubstepSet::SolveVelocities
.
In the case of collisions, PenetrationConstraint
s are created for each contact pair.
The constraints are resolved by moving the bodies so that they no longer penetrate.
Then, the velocities are updated, and velocity corrections caused by dynamic friction and restitution are applied.
Trait Implementations§
source§impl Plugin for SolverPlugin
impl Plugin for SolverPlugin
§fn ready(&self, _app: &App) -> bool
fn ready(&self, _app: &App) -> bool
finish
should be called.§fn finish(&self, _app: &mut App)
fn finish(&self, _app: &mut App)
App
], once all plugins registered are ready. This can
be useful for plugins that depends on another plugin asynchronous setup, like the renderer.§fn cleanup(&self, _app: &mut App)
fn cleanup(&self, _app: &mut App)
Auto Trait Implementations§
impl RefUnwindSafe for SolverPlugin
impl Send for SolverPlugin
impl Sync for SolverPlugin
impl Unpin for SolverPlugin
impl UnwindSafe for SolverPlugin
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