Enum rapier3d::dynamics::SpringModel[−][src]

pub enum SpringModel {
    Disabled,
    VelocityBased,
    AccelerationBased,
    ForceBased,
}
Expand description

The spring-like model used for constraints resolution.

Variants

Disabled

No equation is solved.

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))

ForceBased

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 returned gamma will be zero if both stiffness and damping are zero.

Trait Implementations

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