Type Alias SubstepSolverSet

pub type SubstepSolverSet = SubstepSolverSystems;

👎Deprecated since 0.4.0: Renamed to SubstepSolverSystems

A deprecated alias for SubstepSolverSystems.

Aliased Type

pub enum SubstepSolverSet {
    WarmStart,
    SolveConstraints,
    Relax,
    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.