Struct GpuConstraintSolver 

pub struct GpuConstraintSolver {
    pub pairs: Vec<BroadphasePairGpu>,
    pub manifolds: Vec<ContactManifoldGpu>,
}

Iterative sequential-impulse constraint solver for rigid body contacts.

Fields

pairs: Vec<BroadphasePairGpu>

Broadphase candidate pairs.

manifolds: Vec<ContactManifoldGpu>

Contact manifolds, aligned with pairs.

Implementations

impl GpuConstraintSolver

pub fn new() -> Self

Create a new solver with no constraints.

pub fn add_manifold( &mut self, pair: BroadphasePairGpu, manifold: ContactManifoldGpu, )

Add a manifold (and its corresponding broadphase pair) to the solver.

pub fn solve_sequential_impulse( &self, bodies: &mut [GpuRigidBody], dt: f32, iterations: usize, )

Solve all contact constraints via sequential impulses.

Iterates iterations times over every contact point and applies a non-penetration impulse. A restitution coefficient of 0.3 is used.

Trait Implementations

impl Clone for GpuConstraintSolver

fn clone(&self) -> GpuConstraintSolver

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for GpuConstraintSolver

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

Formats the value using the given formatter.

impl Default for GpuConstraintSolver

fn default() -> GpuConstraintSolver

Returns the “default value” for a type.