Struct ImpulseResolver 

pub struct ImpulseResolver {
    pub iterations: u32,
    pub baumgarte: f32,
    pub slop: f32,
    pub warm_start: bool,
}

Sequential impulse resolver with friction cone projection, restitution, and warm-starting.

Fields

iterations: u32

Number of resolution iterations per step.

baumgarte: f32

Baumgarte stabilization factor.

slop: f32

Penetration slop.

warm_start: bool

Enable warm starting.

Implementations

impl ImpulseResolver

pub fn new() -> Self

pub fn with_iterations(self, n: u32) -> Self

pub fn resolve_contact( &self, a: &mut RigidBody, b: &mut RigidBody, contact: &mut ContactPoint, dt: f32, )

Resolve a single contact point between two bodies.

pub fn resolve_manifold( &self, a: &mut RigidBody, b: &mut RigidBody, manifold: &mut ContactManifold3D, dt: f32, )

Resolve all contacts in a manifold.

Trait Implementations

impl Default for ImpulseResolver

fn default() -> Self

Returns the “default value” for a type.