Struct mgf::ContactSolver

pub struct ContactSolver<'a, Params = DefaultContactSolverParams> where
    Params: ContactSolverParams,  { /* fields omitted */ }

A PGE based constraint solver for contacts.

Methods

impl<'a, Params: ContactSolverParams> ContactSolver<'a, Params>

fn new() -> Self

Construct a new empty solver

fn with_capacity(cap: usize) -> Self

Construct a new empty solver with a given capacity

fn add_constraint<'b, 'c>(
    &mut self,
    obj_a: &'b mut PhysicsObject,
    obj_b: &'c mut PhysicsObject,
    manifold: Manifold,
    dt: f32
) where
    'b: 'a,
    'c: 'a, 

Add a constraint to the solver and pre-solve the constraint.

Unfortunately this interface requires taking two mutable references, so it's hard to work with this interface safely.

fn solve(&mut self, iters: usize)

Solves the added constraints and updates the inserted physics objects with the correct new velocities.