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solve_pgs_iteration

oxiphysics_python::constraints_api

Function solve_pgs_iteration 

Source 
pub fn solve_pgs_iteration(
    lambda: &mut [f64],
    rhs: &[f64],
    diag: &[f64],
    lo: &[f64],
    hi: &[f64],
) -> f64
Expand description

Perform one PGS (Projected Gauss-Seidel) iteration over a set of constraints.

lambda — accumulated impulse per constraint (modified in place). rhs — constraint violation / desired velocity change per constraint. diag — diagonal of the effective-mass matrix per constraint. lo — lower bound per constraint (clamping). hi — upper bound per constraint (clamping).

Returns the total residual after the iteration.