Module constraints_api 

Constraint system API for Python interop.

Provides Python-friendly types for rigid body constraint solving, joints, contact constraints, motors, island management, CCD, PBD/XPBD solvers, control systems, friction models, and warm starting.

Structs

AxisLimits

Joint axis and limit specification.

CachedImpulse

Cached impulse from the previous frame for warm starting.

MotorThermal

Motor thermal model to cap torque under sustained load.

PbdConstraint

A PBD/XPBD constraint connecting particle indices.

PidGains

PID controller for motor target tracking.

PyCCDResult

Result of a continuous collision detection (CCD) query.

PyConstraintSolver

Main constraint solver configuration.

PyContactConstraint

A single contact point constraint between two bodies.

PyControlSystem

A simple state-space system: dx/dt = A x + B u, y = C x + D u.

PyFrictionModel

Friction model for contact resolution.

PyIsland

An island groups bodies and constraints that can interact.

PyJoint

A joint connecting two rigid bodies.

PyMotorConstraint

A motor/actuator constraint driving a joint.

PyPbdSolver

Position-based dynamics (XPBD) solver.

PyWarmStart

Warm start cache for constraint impulses.

Enums

FrictionModelKind

Friction model type.

IslandSleepState

Sleeping state of an island.

JointKind

The kind of joint.

PbdConstraintType

PBD/XPBD constraint type.

SolverType

Constraint solver algorithm selection.

Functions

clamp_impulse

Clamp an impulse to the friction cone.

compute_effective_mass

Compute the effective mass (inverse denominator) for a constraint.

compute_jacobian

Compute the Jacobian row for a distance constraint between two bodies.

solve_pgs_iteration

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