Struct nphysics2d::solver::NonlinearSORProx [−][src]
pub struct NonlinearSORProx<N: Real> { /* fields omitted */ }
Non-linear position-based consraint solver using the SOR-Prox approach.
Methods
impl<N: Real> NonlinearSORProx<N>[src]
impl<N: Real> NonlinearSORProx<N>pub fn new() -> Self[src]
pub fn new() -> SelfInitialize a new nonlinear SOR-Prox solver.
pub fn solve(
&self,
params: &IntegrationParameters<N>,
bodies: &mut BodySet<N>,
constraints: &mut [NonlinearUnilateralConstraint<N>],
multibody_limits: &[MultibodyJointLimitsNonlinearConstraintGenerator],
joints_constraints: &Slab<Box<JointConstraint<N>>>,
jacobians: &mut [N],
max_iter: usize
)[src]
pub fn solve(
&self,
params: &IntegrationParameters<N>,
bodies: &mut BodySet<N>,
constraints: &mut [NonlinearUnilateralConstraint<N>],
multibody_limits: &[MultibodyJointLimitsNonlinearConstraintGenerator],
joints_constraints: &Slab<Box<JointConstraint<N>>>,
jacobians: &mut [N],
max_iter: usize
)Solve a set of nonlinear position-based constraints.
Auto Trait Implementations
impl<N> Send for NonlinearSORProx<N>
impl<N> Send for NonlinearSORProx<N>impl<N> Sync for NonlinearSORProx<N>
impl<N> Sync for NonlinearSORProx<N>