Enum MotorModel 

pub enum MotorModel {
    AccelerationBased,
    ForceBased,
}

How motor stiffness/damping values are interpreted (mass-dependent vs mass-independent).

This affects how motors behave when attached to bodies of different masses.

Acceleration-Based (default, recommended)

Spring constants are automatically scaled by mass, so:

• Heavy and light objects respond similarly to same spring values
• Easier to tune - values work across different mass ranges
• Formula: acceleration = stiffness × error + damping × velocity_error

Force-Based

Spring constants produce absolute forces, so:

• Same spring values → different behavior for different masses
• More physically accurate representation
• Requires re-tuning if masses change
• Formula: force = stiffness × error + damping × velocity_error

Most users should use AccelerationBased (the default).

Variants

AccelerationBased

Spring constants auto-scale with mass (easier to tune, recommended).

ForceBased

Spring constants produce absolute forces (mass-dependent).

Implementations

impl MotorModel

pub fn combine_coefficients( self, dt: f32, stiffness: f32, damping: f32, ) -> (f32, f32, f32)

Combines the coefficients used for solving the spring equation.

Returns the coefficients (erp_inv_dt, cfm_coeff, cfm_gain).

Trait Implementations

impl Clone for MotorModel

fn clone(&self) -> MotorModel

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for MotorModel

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

Formats the value using the given formatter.

impl Default for MotorModel

fn default() -> MotorModel

Returns the “default value” for a type.

impl PartialEq for MotorModel

fn eq(&self, other: &MotorModel) -> 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 Copy for MotorModel

impl Eq for MotorModel

impl StructuralPartialEq for MotorModel