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CableChainLimit

oxiphysics_collision::joint_collision

Struct CableChainLimit 

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pub struct CableChainLimit {
    pub body_a: usize,
    pub body_b: usize,
    pub min_length: f64,
    pub max_length: f64,
    pub current_length: f64,
    pub relative_velocity: f64,
    pub impulse: f64,
    pub stiffness: f64,
    pub damping: f64,
}
Expand description

Cable or chain joint limit.

A cable prevents extension beyond max_length; a chain additionally prevents compression below min_length.

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§body_a: usize

Body index A (cable anchor).

§body_b: usize

Body index B (cable end).

§min_length: f64

Minimum allowed distance (0 for cable-only).

§max_length: f64

Maximum allowed distance.

§current_length: f64

Current distance between anchor and end.

§relative_velocity: f64

Relative velocity along the cable direction.

§impulse: f64

Accumulated constraint impulse.

§stiffness: f64

Cable stiffness (for soft stops).

§damping: f64

Cable damping.

Implementations§

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impl CableChainLimit

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pub fn new( body_a: usize, body_b: usize, min_length: f64, max_length: f64, stiffness: f64, damping: f64, ) -> Self

Create a cable/chain limit.

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pub fn extension_violation(&self) -> f64

Extension violation: positive if cable is too long.

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pub fn compression_violation(&self) -> f64

Compression violation: positive if chain is too short.

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pub fn net_penetration(&self) -> f64

Net penetration (positive means constraint is violated).

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pub fn compute_impulse(&self, inv_mass_a: f64, inv_mass_b: f64, dt: f64) -> f64

Compute the corrective impulse along the cable direction.

Trait Implementations§

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impl Clone for CableChainLimit

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fn clone(&self) -> CableChainLimit

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for CableChainLimit

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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