Module constraint_graph

Structs§

DYNAMIC_COLOR_COUNT: Keeps dyn-dyn constraints at lower solver priority than dyn-static. (B3_DYNAMIC_COLOR_COUNT)
OVERFLOW_INDEX: Constraints that cannot fit the graph color limit. (B3_OVERFLOW_INDEX)

add_contact_to_graph: Contacts are created non-touching; once touching they enter the graph. (b3AddContactToGraph)
add_joint_to_graph: (b3AddJointToGraph)
create_joint_in_graph: Allocate a zeroed joint sim slot in the graph for the joint and set the joint’s color/local indices. Returns (color_index, local_index). (b3CreateJointInGraph — C returns the sim pointer; the caller writes it)
remove_contact_from_graph: (b3RemoveContactFromGraph)
remove_joint_from_graph: (b3RemoveJointFromGraph)