Enum SolverSet

pub enum SolverSet {
    PreSubstep,
    Substep,
    PostSubstep,
    Restitution,
    ApplyTranslation,
    StoreContactImpulses,
}

System sets for the constraint solver.

Steps

Below is the core solver loop.

1. Generate and prepare constraints (contact constraints are generated by the narrow phase)
2. Substepping loop (runs the SubstepSchedule SubstepCount times; see SolverSet::Substep)
3. Apply restitution (SolverSet::Restitution)
4. Finalize positions by applying AccumulatedTranslation (SolverSet::ApplyTranslation)
5. Store contact impulses for next frame’s warm starting (SolverSet::StoreContactImpulses)

Variants

PreSubstep

A system set for systems running just before the substepping loop.

Substep

A system set for the substepping loop.

PostSubstep

A system set for systems running just after the substepping loop.

Restitution

Applies restitution for bodies after solving overlap.

ApplyTranslation

Finalizes the positions of bodies by applying the AccumulatedTranslation.

Constraints don’t modify the positions of bodies directly and instead adds to this translation to improve numerical stability when bodies are far from the world origin.

StoreContactImpulses

Copies contact impulses from ContactConstraints to the contacts in the ContactGraph. They will be used for warm starting the next frame or substep.

Trait Implementations

impl Clone for SolverSet

fn clone(&self) -> SolverSet

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SolverSet

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Hash for SolverSet

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl PartialEq for SolverSet

fn eq(&self, other: &SolverSet) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SystemSet for SolverSet

where Self: 'static + Send + Sync + Clone + Eq + Debug + Hash,

fn dyn_clone(&self) -> Box<dyn SystemSet>

Clones this SystemSet.

fn as_dyn_eq(&self) -> &dyn DynEq

Casts this value to a form where it can be compared with other type-erased values.

fn dyn_hash(&self, state: &mut dyn Hasher)

Feeds this value into the given Hasher.

fn system_type(&self) -> Option<TypeId>

Returns Some if this system set is a SystemTypeSet.

fn is_anonymous(&self) -> bool

Returns true if this system set is an AnonymousSet.

fn intern(&self) -> Interned<dyn SystemSet>

where Self: Sized,

Returns an Interned value corresponding to self.

impl Copy for SolverSet

impl Eq for SolverSet

impl StructuralPartialEq for SolverSet