Struct PyWarmStart 

pub struct PyWarmStart {
    pub cache: Vec<CachedImpulse>,
    pub aging_factor: f64,
    pub quality_threshold: f64,
    pub max_age: u32,
}

Warm start cache for constraint impulses.

Fields

cache: Vec<CachedImpulse>

Cached impulses from the previous solve.

aging_factor: f64

Fraction of cached impulse to apply at the start of the next frame.

quality_threshold: f64

Minimum quality threshold to keep a cached impulse.

max_age: u32

Maximum number of frames to keep a cached impulse.

Implementations

impl PyWarmStart

pub fn new() -> Self

Create a new warm-start cache.

pub fn store(&mut self, key: (u32, u32), lambda_n: f64, lambda_t: [f64; 2])

Store an impulse for the next frame.

pub fn retrieve(&self, key: (u32, u32)) -> Option<(f64, [f64; 2])>

Retrieve the cached impulse for a body pair, scaled by aging factor.

pub fn age_and_prune(&mut self)

Age all cached impulses and remove expired ones.

pub fn clear(&mut self)

Clear all cached impulses.

Trait Implementations

impl Clone for PyWarmStart

fn clone(&self) -> PyWarmStart

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PyWarmStart

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

Formats the value using the given formatter.

impl Default for PyWarmStart

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for PyWarmStart

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for PyWarmStart

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

where __S: Serializer,

Serialize this value into the given Serde serializer.