Module solver

The physics solver responsible for simulating rigid body dynamics, contacts, and joints.

See SolverPlugins for a plugin group that contains Avian’s default solver plugins.

Modules

constraint_graph

A ConstraintGraph with graph coloring for solving constraints in parallel.

contact

Constraints and other types used for solving contacts.

islands

Persistent simulation islands for sleeping and waking.

joint_graph

A JointGraph for tracking how rigid bodies are connected by joints.

schedule

Sets up the default scheduling, system set configuration, and time resources for the physics solver and substepping loop.

softness_parameters

Soft constraints are spring-like constraints that dampen constraint responses using intuitive tuning parameters, a damping ratio and a frequency in Hertz.

solver_body

Efficient rigid body definitions used by the performance-critical solver.

Structs

ContactConstraints

A resource that stores the contact constraints.

ContactSoftnessCoefficients

The SoftnessCoefficients used for contacts.

PhysicsLengthUnit

A units-per-meter scaling factor that adjusts the engine’s internal properties to the scale of the world.

SolverConfig

Configuration parameters for the constraint solver that handles things like contacts and joints.

SolverDiagnostics

Diagnostics for the physics solver.

SolverPlugin

Manages and solves contacts, joints, and other constraints.

SolverPlugins

A plugin group that contains Avian’s default solver plugins.

Functions

joint_damping

Applies velocity corrections caused by joint damping.