Enum avian3d::dynamics::solver::SubstepSolverSet
source · pub enum SubstepSolverSet {
WarmStart,
SolveConstraints,
Relax,
SolveXpbdConstraints,
SolveUserConstraints,
XpbdVelocityProjection,
}
Expand description
System sets for the substepped part of the constraint solver.
§Steps
- Integrate velocity (
IntegrationSet::Velocity
) - Warm start (
SubstepSolverSet::WarmStart
) - Solve constraints with bias (
SubstepSolverSet::SolveConstraints
) - Integrate positions (
IntegrationSet::Position
) - Solve constraints without bias to relax velocities (
SubstepSolverSet::Relax
) - Solve joints using Extended Position-Based Dynamics (XPBD). (
SubstepSolverSet::SolveXpbdConstraints
) - Solve user-defined constraints. (
SubstepSolverSet::SolveUserConstraints
) - Update velocities after XPBD constraint solving. (
SubstepSolverSet::XpbdVelocityProjection
)
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.
SolveXpbdConstraints
Solves joints using Extended Position-Based Dynamics (XPBD).
SolveUserConstraints
A system set for user constraints.
XpbdVelocityProjection
Performs velocity updates after XPBD constraint solving.
Trait Implementations§
source§impl Clone for SubstepSolverSet
impl Clone for SubstepSolverSet
source§fn clone(&self) -> SubstepSolverSet
fn clone(&self) -> SubstepSolverSet
Returns a copy of the value. Read more
1.0.0 · source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source
. Read moresource§impl Debug for SubstepSolverSet
impl Debug for SubstepSolverSet
source§impl Hash for SubstepSolverSet
impl Hash for SubstepSolverSet
source§impl PartialEq for SubstepSolverSet
impl PartialEq for SubstepSolverSet
source§fn eq(&self, other: &SubstepSolverSet) -> bool
fn eq(&self, other: &SubstepSolverSet) -> bool
This method tests for
self
and other
values to be equal, and is used
by ==
.source§impl SystemSet for SubstepSolverSet
impl SystemSet for SubstepSolverSet
source§fn as_dyn_eq(&self) -> &dyn DynEq
fn as_dyn_eq(&self) -> &dyn DynEq
Casts this value to a form where it can be compared with other type-erased values.
source§fn system_type(&self) -> Option<TypeId>
fn system_type(&self) -> Option<TypeId>
Returns
Some
if this system set is a SystemTypeSet
.source§fn is_anonymous(&self) -> bool
fn is_anonymous(&self) -> bool
Returns
true
if this system set is an AnonymousSet
.impl Copy for SubstepSolverSet
impl Eq for SubstepSolverSet
impl StructuralPartialEq for SubstepSolverSet
Auto Trait Implementations§
impl Freeze for SubstepSolverSet
impl RefUnwindSafe for SubstepSolverSet
impl Send for SubstepSolverSet
impl Sync for SubstepSolverSet
impl Unpin for SubstepSolverSet
impl UnwindSafe for SubstepSolverSet
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