Struct ShapeMatching 

pub struct ShapeMatching {
    pub stiffness: Real,
    /* private fields */
}

Rigid shape-matching constraint.

Fields

stiffness: Real

Stiffness α ∈ [0, 1]. 0 = no constraint, 1 = full rigid matching.

Implementations

impl ShapeMatching

pub fn new(positions: &[Vec3], masses: &[Real], stiffness: Real) -> Self

Create a new shape-matching constraint from the current rest positions and masses.

The rest positions are stored relative to their (mass-weighted) centre of mass so that the deformation matrix A can be computed cheaply at runtime.

pub fn goal_positions(&self, positions: &[Vec3]) -> Vec<Vec3>

Compute the goal positions for each particle by:

1. Computing the current centre of mass xcm.
2. Building the deformation matrix A = Σ mᵢ (xᵢ − xcm) qᵢᵀ where qᵢ is the rest position of particle i relative to the rest centre of mass.
3. Extracting the rotation R via polar decomposition of A.
4. Computing goal positions as goalᵢ = stiffness * (R qᵢ + xcm) + (1 − stiffness) * xᵢ.

Trait Implementations

impl Clone for ShapeMatching

fn clone(&self) -> ShapeMatching

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ShapeMatching

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

Formats the value using the given formatter.