Struct pixel_game_lib::physics::constraint::penetration::PenetrationConstraint

pub struct PenetrationConstraint {
    pub a: RigidBodyKey,
    pub b: RigidBodyKey,
    pub response: CollisionResponse,
    pub tangent_lambda: f64,
    /* private fields */
}

Short-lived collision constraint for resolving collisions.

Fields

a: RigidBodyKey

Object A.

b: RigidBodyKey

Object B.

response: CollisionResponse

Collision response.

tangent_lambda: f64

Normal lambda value.

Implementations

impl PenetrationConstraint

pub fn new(rigidbodies: [RigidBodyKey; 2], response: CollisionResponse) -> Self

Constrain two rigidbodies with a spring so they can’t be try to resolve the distance between them.

RigidBodys must be indices.

pub fn a_attachment(&self) -> Vec2<f64>

Local attachment for object A.

pub fn b_attachment(&self) -> Vec2<f64>

Local attachment for object B.

pub fn solve_velocities( &self, rigidbodies: &mut View<'_, RigidBodyQuery<'_>>, dt: f64 )

Calculate and apply contact velocities after solve step.

Trait Implementations

impl Clone for PenetrationConstraint

fn clone(&self) -> PenetrationConstraint

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Constraint<2> for PenetrationConstraint

fn reset(&mut self)

Override for the other lambdas.

fn solve(&mut self, rigidbodies: &mut View<'_, RigidBodyQuery<'_>>, dt: f64)

Solve the constraint.

fn lambda(&self) -> f64

Current stored lambda.

fn set_lambda(&mut self, lambda: f64)

Set the lambda.

fn delta_lambda<const AMOUNT: usize>( lambda: f64, magnitude: f64, compliance: f64, gradients: [Vec2<f64>; AMOUNT], attachments: [Vec2<f64>; AMOUNT], bodies: [(InvMass, Inertia); AMOUNT], dt: f64 ) -> f64

Calculate a generic form of the lambda update.

impl Debug for PenetrationConstraint

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

Formats the value using the given formatter.

impl PositionalConstraint for PenetrationConstraint

fn gradient( &self, _a_global_position: Vec2<f64>, _b_global_position: Vec2<f64> ) -> Vec2<f64>

Direction normalized vector.

fn magnitude( &self, _a_global_position: Vec2<f64>, _b_global_position: Vec2<f64> ) -> f64

Magnitude.

fn compliance(&self) -> f64

Compliance.

fn apply( &mut self, a: &mut RigidBodyQuery<'_>, a_attachment: Vec2<f64>, b: &mut RigidBodyQuery<'_>, b_attachment: Vec2<f64>, apply_on_kinematic: bool, dt: f64 )

Calculate and apply the forces from the implemented methods.