Module nphysics3d::solver [−][src]
Expand description
Constraint solver.
Re-exports
pub use self::helper::ForceDirection; |
Modules
helper | Utilities for computing velocity and position constraints. |
Structs
BilateralConstraint | A bilateral (equality) constraint between two bodies. |
BilateralGroundConstraint | A bilateral (equality) constraint between a dynamic body and one without any degrees of freedom. |
ConstraintGeometry | Logical information of the geometry of a constraint. |
ConstraintSet | A set of all velocity constraints and non-linear position-based constraints. |
GenericNonlinearConstraint | A generic non-linear position constraint. |
IntegrationParameters | Parameters for a time-step of the physics engine. |
LinearConstraints | Set of velocity-based constraints. |
MoreauJeanSolver | Moreau-Jean time-stepping scheme. |
MultibodyJointLimitsNonlinearConstraintGenerator | A non-linear position constraint generator to enforce multibody joint limits. |
NonlinearUnilateralConstraint | A non-linear position-based non-penetration constraint. |
SignoriniCoulombPyramidModel | A contact model generating one non-penetration constraint and two friction constraints per contact. |
SignoriniModel | A contact model generating one non-penetration constraint per contact. |
UnilateralConstraint | A unilateral (inequality) consraint. |
UnilateralGroundConstraint | A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom. |
Enums
ImpulseLimits | Limits of impulse applicable by a bilateral constraint. |
Traits
ContactModel | The modeling of a contact. |
NonlinearConstraintGenerator | Implemented by structures that generate non-linear constraints. |
Type Definitions
ImpulseCache | A cache for impulses resulting from contacts and joints. |