Struct WeldConstraint 

pub struct WeldConstraint {
    pub body_a: BodyHandle,
    pub body_b: BodyHandle,
    pub anchor_a: Vec2,
    pub anchor_b: Vec2,
    pub ref_angle: f32,
    pub angular_compliance: f32,
    pub linear_compliance: f32,
    /* private fields */
}

Weld joint: fully rigid 6-DOF lock. Fixes both relative position and angle.

Fields

body_a: BodyHandle

body_b: BodyHandle

anchor_a: Vec2

anchor_b: Vec2

ref_angle: f32

Reference relative angle (captured at creation time).

angular_compliance: f32

Angular compliance (0 = perfectly rigid).

linear_compliance: f32

Linear compliance.

Implementations

impl WeldConstraint

pub fn new( body_a: BodyHandle, anchor_a: Vec2, body_b: BodyHandle, anchor_b: Vec2, ref_angle: f32, ) -> Self

pub fn with_angular_compliance(self, c: f32) -> Self

pub fn with_linear_compliance(self, c: f32) -> Self

Trait Implementations

impl Clone for WeldConstraint

fn clone(&self) -> WeldConstraint

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Constraint for WeldConstraint

fn compute_cdot(&self, bodies: &HashMap<BodyHandle, BodyState>) -> f32

Compute the velocity constraint violation (Cdot = J * v).

fn compute_c(&self, bodies: &HashMap<BodyHandle, BodyState>) -> f32

Compute the position constraint violation (C).

fn get_compliance(&self) -> f32

XPBD compliance (inverse stiffness). 0 = rigid.

fn effective_mass(&self, bodies: &HashMap<BodyHandle, BodyState>) -> f32

Compute effective constraint mass (1 / (J M^-1 J^T)).

fn apply_impulse( &self, bodies: &mut HashMap<BodyHandle, BodyState>, lambda: f32, )

Apply the corrective impulse to body states.

fn solve_velocity( &mut self, bodies: &mut HashMap<BodyHandle, BodyState>, dt: f32, )

Solve velocity constraint (one iteration).

fn accumulated_impulse(&self) -> f32

Accumulated impulse for warm starting.

fn reset_accumulated(&mut self)

fn add_accumulated(&mut self, d: f32)

fn body_handles(&self) -> Vec<BodyHandle>

Bodies involved in this constraint.

fn bias(&self, bodies: &HashMap<BodyHandle, BodyState>, dt: f32) -> f32

Baumgarte position bias.

fn prepare(&mut self, _bodies: &HashMap<BodyHandle, BodyState>, _dt: f32)

Prepare the constraint for the current step (pre-compute cached values).

fn solve_position( &mut self, bodies: &mut HashMap<BodyHandle, BodyState>, dt: f32, )

Solve position constraint using XPBD (one sub-step).

fn impulse_bounds(&self) -> (f32, f32)

Whether this constraint has an upper/lower impulse clamp.

impl Debug for WeldConstraint

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

Formats the value using the given formatter.