avian2d::dynamics::solver::xpbd

Trait AngularConstraint

Source 
pub trait AngularConstraint: XpbdConstraint<2> {
    // Provided methods
    fn apply_angular_lagrange_update(
        &self,
        body1: &mut RigidBodyQueryItem<'_>,
        body2: &mut RigidBodyQueryItem<'_>,
        delta_lagrange: Scalar,
    ) -> Scalar { ... }
    fn apply_angular_impulse(
        &self,
        body1: &mut RigidBodyQueryItem<'_>,
        body2: &mut RigidBodyQueryItem<'_>,
        impulse: Scalar,
    ) -> Scalar { ... }
    fn align_orientation(
        &self,
        body1: &mut RigidBodyQueryItem<'_>,
        body2: &mut RigidBodyQueryItem<'_>,
        angle: Scalar,
        lagrange: &mut Scalar,
        compliance: Scalar,
        dt: Scalar,
    ) -> Scalar { ... }
    fn apply_angular_correction(
        &self,
        body1: &mut RigidBodyQueryItem<'_>,
        body2: &mut RigidBodyQueryItem<'_>,
        delta_lagrange: Scalar,
        axis: Vector3,
    ) -> Scalar { ... }
    fn compute_generalized_inverse_mass(
        &self,
        body: &RigidBodyQueryItem<'_>,
        axis: Vector3,
    ) -> Scalar { ... }
    fn get_delta_rot(inverse_inertia: Scalar, p: Scalar) -> Scalar { ... }
    fn compute_torque(&self, lagrange: Scalar, dt: Scalar) -> Scalar { ... }
}
Expand description

An angular constraint applies an angular correction around a given axis.

Provided Methods§

Source

fn apply_angular_lagrange_update( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, ) -> Scalar

Applies an angular correction to two bodies.

Returns the angular impulse that is applied proportional to the inverse moments of inertia of the bodies.

Source

fn apply_angular_impulse( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, impulse: Scalar, ) -> Scalar

Applies an angular impulse to two bodies.

Returns the impulse that is applied proportional to the inverse moments of inertia of the bodies.

Source

fn align_orientation( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, angle: Scalar, lagrange: &mut Scalar, compliance: Scalar, dt: Scalar, ) -> Scalar

Applies an angular correction that aligns the orientation of the bodies.

Returns the torque exerted by the alignment.

Source

fn apply_angular_correction( &self, body1: &mut RigidBodyQueryItem<'_>, body2: &mut RigidBodyQueryItem<'_>, delta_lagrange: Scalar, axis: Vector3, ) -> Scalar

Applies angular constraints for interactions between two bodies.

Here in 2D, axis is a unit vector with the Z coordinate set to 1 or -1. It controls if the body should rotate counterclockwise or clockwise.

Returns the angular impulse that is applied proportional to the inverse masses of the bodies.

Source

fn compute_generalized_inverse_mass( &self, body: &RigidBodyQueryItem<'_>, axis: Vector3, ) -> Scalar

Computes the generalized inverse mass of a body when applying an angular correction around axis.

In 2D, axis should only have the z axis set to either -1 or 1 to indicate counterclockwise or clockwise rotation.

Source

fn get_delta_rot(inverse_inertia: Scalar, p: Scalar) -> Scalar

Computes the update in rotation when applying an angular correction p.

Source

fn compute_torque(&self, lagrange: Scalar, dt: Scalar) -> Scalar

Computes the torque acting along the constraint using the equation tau = lambda * n / h^2, where n is the Z axis in 2D.

Dyn Compatibility§

This trait is not dyn compatible.

In older versions of Rust, dyn compatibility was called "object safety", so this trait is not object safe.

Implementors§