Struct SpringCoefficients 

pub struct SpringCoefficients<N> {
    pub natural_frequency: N,
    pub damping_ratio: N,
}

Coefficients for a spring, typically used for configuring constraint softness for contacts and joints.

Fields

natural_frequency: N

Sets the natural frequency (Hz) of the spring-like constraint.

Higher values make the constraint stiffer and resolve constraint violations more quickly.

damping_ratio: N

Sets the damping ratio for the spring-like constraint.

Larger values make the joint more compliant (allowing more drift before stabilization).

Implementations

impl<N> SpringCoefficients<N>

where N: SimdRealField<Element = f32> + Copy,

pub fn new(natural_frequency: N, damping_ratio: N) -> SpringCoefficients<N>

Initializes spring coefficients from the spring natural frequency and damping ratio.

pub fn contact_defaults() -> SpringCoefficients<N>

Default softness coefficients for contacts (30 Hz, ζ = 10). The high ζ is load-bearing for large piles/stacks: softer contacts settle deeper under load, and the extra penetration keeps them wedging and creeping instead of resting.

pub fn contact_static_defaults() -> SpringCoefficients<N>

Default softness coefficients for contacts touching a fixed body: twice the natural frequency of Self::contact_defaults, holding piled/pushed bodies more firmly against walls and floors so they are less likely to squeeze through.

pub fn joint_defaults() -> SpringCoefficients<N>

Default softness coefficients for joints.

pub fn angular_frequency(&self) -> N

The contact’s spring angular frequency for constraints regularization.

pub fn erp_inv_dt(&self, dt: N) -> N

The Self::erp coefficient, multiplied by the inverse timestep length.

pub fn erp(&self, dt: N) -> N

The effective Error Reduction Parameter applied for calculating regularization forces.

This parameter is computed automatically from Self::natural_frequency, Self::damping_ratio and the substep length.

pub fn cfm_coeff(&self, dt: N) -> N

Compute CFM assuming a critically damped spring multiplied by the damping ratio.

This coefficient softens the impulse applied at each solver iteration.

pub fn cfm_factor(&self, dt: N) -> N

The CFM factor to be used in the constraint resolution.

This parameter is computed automatically from Self::natural_frequency, Self::damping_ratio and the substep length.

Trait Implementations

impl<N> Clone for SpringCoefficients<N>

where N: Clone,

fn clone(&self) -> SpringCoefficients<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N> Copy for SpringCoefficients<N>

where N: Copy,

impl<N> Debug for SpringCoefficients<N>

where N: Debug,

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

Formats the value using the given formatter.

impl<N> PartialEq for SpringCoefficients<N>

where N: PartialEq,

fn eq(&self, other: &SpringCoefficients<N>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<N> StructuralPartialEq for SpringCoefficients<N>

where N: PartialEq,