Enum SolverSystems

pub enum SolverSystems {
    PrepareSolverBodies,
    PrepareJoints,
    PrepareContactConstraints,
    PreSubstep,
    Substep,
    PostSubstep,
    Restitution,
    Finalize,
    StoreContactImpulses,
}

System sets for the constraint solver.

Steps

Below is the core solver loop.

1. Prepare solver bodies (SolverSystems::PrepareSolverBodies)
2. Prepare joints (SolverSystems::PrepareJoints)
3. Prepare contact constraints (SolverSystems::PrepareContactConstraints)
4. Substepping loop (runs the SubstepSchedule SubstepCount times; see SolverSystems::Substep)
5. Apply restitution (SolverSystems::Restitution)
6. Write back solver body data to rigid bodies. (SolverSystems::Finalize)
7. Store contact impulses for next frame’s warm starting (SolverSystems::StoreContactImpulses)

Variants

PrepareSolverBodies

Prepares solver bodies for the substepping loop.

PrepareJoints

Prepares joint constraints for the substepping loop.

PrepareContactConstraints

Prepares contact constraints for the substepping loop.

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.

Finalize

Writes back solver body data to rigid bodies.

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 SolverSystems

fn clone(&self) -> SolverSystems

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SolverSystems

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

Formats the value using the given formatter.

impl Hash for SolverSystems

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 SolverSystems

fn eq(&self, other: &SolverSystems) -> 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 SolverSystems

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

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

Clones this SystemSet.

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 SolverSystems

impl Eq for SolverSystems

impl StructuralPartialEq for SolverSystems