Expand description
Constraint solver.
Re-exports§
pub use self::helper::ForceDirection;
Modules§
- helper
- Utilities for computing velocity and position constraints.
Structs§
- Bilateral
Constraint - A bilateral (equality) constraint between two bodies.
- Bilateral
Ground Constraint - A bilateral (equality) constraint between a dynamic body and one without any degrees of freedom.
- Constraint
Geometry - Logical information of the geometry of a constraint.
- Constraint
Set - A set of all velocity constraints and non-linear position-based constraints.
- Generic
Nonlinear Constraint - A generic non-linear position constraint.
- Integration
Parameters - Parameters for a time-step of the physics engine.
- Linear
Constraints - Set of velocity-based constraints.
- Moreau
Jean Solver - Moreau-Jean time-stepping scheme.
- Multibody
Joint Limits Nonlinear Constraint Generator - A non-linear position constraint generator to enforce multibody joint limits.
- Nonlinear
Unilateral Constraint - A non-linear position-based non-penetration constraint.
- Signorini
Coulomb Pyramid Model - A contact model generating one non-penetration constraint and two friction constraints per contact.
- Signorini
Model - A contact model generating one non-penetration constraint per contact.
- Unilateral
Constraint - A unilateral (inequality) consraint.
- Unilateral
Ground Constraint - A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom.
Enums§
- Impulse
Limits - Limits of impulse applicable by a bilateral constraint.
Traits§
- Contact
Model - The modeling of a contact.
- Nonlinear
Constraint Generator - Implemented by structures that generate non-linear constraints.
Type Aliases§
- Impulse
Cache - A cache for impulses resulting from contacts and joints.