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Constraint

proof_engine::physics::constraints

Trait Constraint 

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pub trait Constraint: Debug {

Show 14 methods    // Required methods
    fn compute_cdot(&self, bodies: &HashMap<BodyHandle, BodyState>) -> f32;
    fn compute_c(&self, bodies: &HashMap<BodyHandle, BodyState>) -> f32;
    fn apply_impulse(
        &self,
        bodies: &mut HashMap<BodyHandle, BodyState>,
        lambda: f32,
    );
    fn effective_mass(&self, bodies: &HashMap<BodyHandle, BodyState>) -> f32;
    fn accumulated_impulse(&self) -> f32;
    fn reset_accumulated(&mut self);
    fn add_accumulated(&mut self, delta: f32);

    // Provided methods
    fn get_compliance(&self) -> f32 { ... }
    fn bias(&self, bodies: &HashMap<BodyHandle, BodyState>, dt: f32) -> f32 { ... }
    fn prepare(&mut self, _bodies: &HashMap<BodyHandle, BodyState>, _dt: f32) { ... }
    fn solve_velocity(
        &mut self,
        bodies: &mut HashMap<BodyHandle, BodyState>,
        dt: f32,
    ) { ... }
    fn solve_position(
        &mut self,
        bodies: &mut HashMap<BodyHandle, BodyState>,
        dt: f32,
    ) { ... }
    fn impulse_bounds(&self) -> (f32, f32) { ... }
    fn body_handles(&self) -> Vec<BodyHandle> { ... }

}
Expand description

A constraint imposes a restriction on body state.

Required Methods§

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

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

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

Compute the position constraint violation (C).

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

Apply the corrective impulse to body states.

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

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

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fn accumulated_impulse(&self) -> f32

Accumulated impulse for warm starting.

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fn reset_accumulated(&mut self)

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fn add_accumulated(&mut self, delta: f32)

Provided Methods§

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fn get_compliance(&self) -> f32

XPBD compliance (inverse stiffness). 0 = rigid.

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

Baumgarte position bias.

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

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

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

Solve velocity constraint (one iteration).

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

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

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

Whether this constraint has an upper/lower impulse clamp.

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

Bodies involved in this constraint.

Implementors§