Struct JacobianRow 

pub struct JacobianRow {
    pub j_lin_a: Vec3,
    pub j_ang_a: Vec3,
    pub j_lin_b: Vec3,
    pub j_ang_b: Vec3,
    pub bias: f32,
    pub effective_mass: f32,
    pub lambda: f32,
    pub lambda_min: f32,
    pub lambda_max: f32,
}

Fields

j_lin_a: Vec3

Linear component for body A

j_ang_a: Vec3

Angular component for body A

j_lin_b: Vec3

Linear component for body B

j_ang_b: Vec3

Angular component for body B

bias: f32

Right-hand side bias (Baumgarte stabilization)

effective_mass: f32

Effective mass (diagonal element of J * M^-1 * J^T)

lambda: f32

Accumulated impulse (warm starting)

lambda_min: f32

Lower limit on lambda

lambda_max: f32

Upper limit on lambda

Implementations

impl JacobianRow

pub fn new() -> Self

pub fn compute_effective_mass( &mut self, inv_mass_a: f32, inv_inertia_a: Vec3, inv_mass_b: f32, inv_inertia_b: Vec3, )

Compute effective mass given inverse masses and inverse inertia tensors

pub fn solve_velocity( &mut self, vel_a: Vec3, omega_a: Vec3, vel_b: Vec3, omega_b: Vec3, ) -> f32

Solve one PGS iteration; returns delta lambda

Trait Implementations

impl Clone for JacobianRow

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for JacobianRow

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

Formats the value using the given formatter.