Struct ConstraintSolver 

pub struct ConstraintSolver {
    pub iteration_count: u32,
    pub baumgarte_factor: f32,
    pub warm_start: bool,
    pub substep_count: u32,
}

Sequential-impulse + XPBD constraint solver.

Call solve() once per physics step. Internally iterates iteration_count times applying velocity and/or position corrections.

Fields

iteration_count: u32

baumgarte_factor: f32

warm_start: bool

substep_count: u32

Number of XPBD substeps (for solve_xpbd).

Implementations

impl ConstraintSolver

pub fn new(iterations: u32) -> Self

pub fn solve( &self, bodies: &mut HashMap<BodyHandle, BodyState>, constraints: &mut [Box<dyn Constraint>], dt: f32, )

Solve all constraints using sequential impulses (velocity level).

pub fn solve_positions( &self, bodies: &mut HashMap<BodyHandle, BodyState>, constraints: &mut [Box<dyn Constraint>], dt: f32, )

Apply position correction (post-solve) using Baumgarte stabilization.

pub fn solve_xpbd( &self, bodies: &mut HashMap<BodyHandle, BodyState>, constraints: &mut [Box<dyn Constraint>], dt: f32, )

Solve using XPBD with substep integration.

Trait Implementations

impl Default for ConstraintSolver

fn default() -> Self

Returns the “default value” for a type.