Enum SubstepSolverSystems

pub enum SubstepSolverSystems {
    WarmStart,
    SolveConstraints,
    Relax,
    Damping,
}

System sets for the substepped part of the constraint solver.

Steps

1. Integrate velocity (IntegrationSystems::Velocity)
2. Warm start (SubstepSolverSystems::WarmStart)
3. Solve constraints with bias (SubstepSolverSystems::SolveConstraints)
4. Integrate positions (IntegrationSystems::Position)
5. Solve constraints without bias to relax velocities (SubstepSolverSystems::Relax)
6. Apply velocity-based constraint damping (SubstepSolverSystems::Damping)

Variants

WarmStart

Warm starts the solver by applying the impulses from the previous frame or substep.

This significantly improves convergence, but by itself can lead to overshooting. Overshooting is reduced by relaxing the biased velocities by running the solver a second time without bias.

SolveConstraints

Solves velocity constraints using a position bias that boosts the response to account for the constraint error.

Relax

Solves velocity constraints without a position bias to relax the biased velocities and impulses. This reduces overshooting caused by warm starting.

Damping

Applies velocity-based constraint damping, such as JointDamping.

Trait Implementations

impl Clone for SubstepSolverSystems

fn clone(&self) -> SubstepSolverSystems

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SubstepSolverSystems

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

Formats the value using the given formatter.

impl Hash for SubstepSolverSystems

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl PartialEq for SubstepSolverSystems

fn eq(&self, other: &SubstepSolverSystems) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SystemSet for SubstepSolverSystems

where Self: 'static + Send + Sync + Clone + Eq + Debug + Hash,

fn dyn_clone(&self) -> Box<dyn SystemSet>

Clones this SystemSet.

fn system_type(&self) -> Option<TypeId>

Returns Some if this system set is a SystemTypeSet.

fn is_anonymous(&self) -> bool

Returns true if this system set is an AnonymousSet.

fn intern(&self) -> Interned<dyn SystemSet>

where Self: Sized,

Returns an Interned value corresponding to self.

impl Copy for SubstepSolverSystems

impl Eq for SubstepSolverSystems

impl StructuralPartialEq for SubstepSolverSystems