Struct nphysics2d::resolution::AccumulatedImpulseSolver

pub struct AccumulatedImpulseSolver<N: Real> { /* fields omitted */ }

Constraint solver using the projected gauss seidel algorithm and warm-starting.

Methods

impl<N: Real> AccumulatedImpulseSolver<N>

fn new(
    step: N,
    correction_mode: CorrectionMode<N>,
    joint_corr_factor: N,
    rest_eps: N,
    num_first_order_iter: usize,
    num_second_order_iter: usize
) -> AccumulatedImpulseSolver<N>

Creates a new AccumulatedImpulseSolver.

fn num_first_order_iter(&self) -> usize

Gets the number of iteration done by the penetration depth correction solver.

fn set_num_first_order_iter(&mut self, num: usize)

Sets the number of iteration done by the penetration depth correction solver.

fn num_second_order_iter(&self) -> usize

Gets the number of iteration done by the velocity constraint solver.

fn set_num_second_order_iter(&mut self, num: usize)

Sets the number of iteration done by the velocity constraint solver.

Trait Implementations

impl<N: Real> Solver<N, Constraint<N>> for AccumulatedImpulseSolver<N>

fn solve(&mut self, dt: N, constraints: &[Constraint<N>])

Solve the set of constraints of type I.