Enum rapier3d_f64::dynamics::SpringModel [−][src]
The spring-like model used for constraints resolution.
Variants
No equation is solved.
The solved spring-like equation is:
delta_velocity(t + dt) = stiffness / dt * (target_pos - pos(t)) + damping * (target_vel - vel(t))
Here the stiffness
is the ratio of position error to be solved at each timestep (like
a velocity-based ERP), and the damping
is the ratio of velocity error to be solved at
each timestep.
The solved spring-like equation is:
acceleration(t + dt) = stiffness * (target_pos - pos(t)) + damping * (target_vel - vel(t))
The solved spring-like equation is:
force(t + dt) = stiffness * (target_pos - pos(t + dt)) + damping * (target_vel - vel(t + dt))
Implementations
impl SpringModel
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pub fn combine_coefficients(
self,
dt: Real,
stiffness: Real,
damping: Real
) -> (Real, Real, Real, bool)
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self,
dt: Real,
stiffness: Real,
damping: Real
) -> (Real, Real, Real, bool)
Combines the coefficients used for solving the spring equation.
Returns the new coefficients (stiffness, damping, inv_lhs_scale, keep_inv_lhs) coefficients for the equivalent impulse-based equation. These new coefficients must be used in the following way:
rhs = (stiffness * pos_err + damping * vel_err) / gamma
.new_inv_lhs = gamma * if keep_inv_lhs { inv_lhs } else { 1.0 }
. Note that the returnedgamma
will be zero if bothstiffness
anddamping
are zero.
Trait Implementations
impl Clone for SpringModel
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fn clone(&self) -> SpringModel
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pub fn clone_from(&mut self, source: &Self)
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impl Copy for SpringModel
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impl Debug for SpringModel
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impl Default for SpringModel
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impl Eq for SpringModel
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impl PartialEq<SpringModel> for SpringModel
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fn eq(&self, other: &SpringModel) -> bool
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#[must_use]pub fn ne(&self, other: &Rhs) -> bool
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impl StructuralEq for SpringModel
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impl StructuralPartialEq for SpringModel
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Auto Trait Implementations
impl RefUnwindSafe for SpringModel
impl Send for SpringModel
impl Sync for SpringModel
impl Unpin for SpringModel
impl UnwindSafe for SpringModel
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: PartialEq<T> + Copy + Any + Debug,
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T: PartialEq<T> + Copy + Any + Debug,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,