Expand description
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§
- Contact
Constraints - A resource that stores the contact constraints.
- Contact
Softness Coefficients - The
SoftnessCoefficientsused for contacts. - Physics
Length Unit - A units-per-meter scaling factor that adjusts the engine’s internal properties to the scale of the world.
- Solver
Config - Configuration parameters for the constraint solver that handles things like contacts and joints.
- Solver
Diagnostics - Diagnostics for the physics solver.
- Solver
Plugin - Manages and solves contacts, joints, and other constraints.
Functions§
- joint_
damping - Applies velocity corrections caused by joint damping.