Enum bevy_rapier3d::prelude::MotorModel [−][src]
pub enum MotorModel {
VelocityBased,
AccelerationBased,
}
Expand description
The spring-like model used for constraints resolution.
Variants
VelocityBased
The solved spring-like equation is:
delta_velocity(t + dt) = stiffness / dt * (target_pos - pos(t)) + damping * (target_vel - vel(t))
Here the stiffness
is the ratio of position error to be solved at each timestep (like
a velocity-based ERP), and the damping
is the ratio of velocity error to be solved at
each timestep.
AccelerationBased
The solved spring-like equation is:
acceleration(t + dt) = stiffness * (target_pos - pos(t)) + damping * (target_vel - vel(t))
Implementations
Combines the coefficients used for solving the spring equation.
Returns the new coefficients (stiffness, damping, gamma, keep_inv_lhs) coefficients for the equivalent impulse-based equation. These new coefficients must be used in the following way:
rhs = (stiffness * pos_err + damping * vel_err) / gamma
.new_inv_lhs = gamma * if keep_inv_lhs { inv_lhs } else { 1.0 }
. Note that the returnedgamma
will be zero if bothstiffness
anddamping
are zero.
Trait Implementations
Returns the “default value” for a type. Read more
Auto Trait Implementations
impl RefUnwindSafe for MotorModel
impl Send for MotorModel
impl Sync for MotorModel
impl Unpin for MotorModel
impl UnwindSafe for MotorModel
Blanket Implementations
Mutably borrows from an owned value. Read more
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Compare self to key
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impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
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pub fn from_world(_world: &mut World) -> T
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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