Module solver

Manages and solves contacts, joints, and other constraints.

See SolverPlugin.

Modules

• contact
  Constraints and other types used for solving contacts.
• joints
  Joints are a way to connect entities in a way that restricts their movement relative to each other. They act as constraints that restrict different Degrees Of Freedom depending on the joint type.
• 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.
• xpbd
  Extended Position-Based Dynamics (XPBD) constraint functionality.

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.
• SolverPlugin
  Manages and solves contacts, joints, and other constraints.

Functions

• joint_damping
  Applies velocity corrections caused by joint damping.