Enum rapier3d::dynamics::SpringModel [−][src]
pub enum SpringModel {
Disabled,
VelocityBased,
AccelerationBased,
ForceBased,
}
Expand description
The spring-like model used for constraints resolution.
Variants
No equation is solved.
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.
The solved spring-like equation is:
acceleration(t + dt) = stiffness * (target_pos - pos(t)) + damping * (target_vel - vel(t))
The solved spring-like equation is:
force(t + dt) = stiffness * (target_pos - pos(t + dt)) + damping * (target_vel - vel(t + dt))
Implementations
Combines the coefficients used for solving the spring equation.
Returns the new coefficients (stiffness, damping, inv_lhs_scale, 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
Auto Trait Implementations
impl RefUnwindSafe for SpringModel
impl Send for SpringModel
impl Sync for SpringModel
impl Unpin for SpringModel
impl UnwindSafe for SpringModel
Blanket Implementations
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