Struct PyConstraintSolver 

pub struct PyConstraintSolver {
    pub solver_type: SolverType,
    pub velocity_iterations: u32,
    pub position_iterations: u32,
    pub warm_start: bool,
    pub sor_factor: f64,
    pub tolerance: f64,
    pub slop: f64,
}

Main constraint solver configuration.

Fields

solver_type: SolverType

Solver algorithm.

velocity_iterations: u32

Number of velocity-level iterations.

position_iterations: u32

Number of position-level iterations (for TGS/non-penetration correction).

warm_start: bool

Whether to use warm starting from the previous frame.

sor_factor: f64

Successive over-relaxation factor (1.0 = standard PGS).

tolerance: f64

Convergence tolerance.

slop: f64

Maximum allowed penetration before applying a correction impulse.

Implementations

impl PyConstraintSolver

pub fn default_pgs() -> Self

Create a default PGS solver.

pub fn default_tgs() -> Self

Create a TGS solver (fewer iterations needed).

pub fn solve( &self, rhs: &[f64], diag: &[f64], lo: &[f64], hi: &[f64], ) -> Vec<f64>

Solve a simple set of constraints given accumulated lambdas, RHS and diagonal effective masses.

Returns the final accumulated impulse array.

Trait Implementations

impl Clone for PyConstraintSolver

fn clone(&self) -> PyConstraintSolver

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PyConstraintSolver

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for PyConstraintSolver

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for PyConstraintSolver

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.