# Module nphysics2d::solver [−][src]

Constraint solver.

## Re-exports

`pub use self::helper::ForceDirection;` |

## Modules

helper |
Utilities for computing velocity and position constraints. |

## Structs

BilateralConstraint |
A bilateral (equality) constraint between two bodies. |

BilateralGroundConstraint |
A bilateral (equality) constraint between a dynamic body and one without any degrees of freedom. |

ConstraintGeometry |
Logical information of the geometry of a constraint. |

ConstraintSet |
A set of all velocity constraints and non-linear position-based constraints. |

GenericNonlinearConstraint |
A generic non-linear position constraint. |

ImpulseCache |
A cache for impulses. |

IntegrationParameters |
Parameters for a time-step of the physics engine. |

MoreauJeanSolver |
Moreau-Jean time-stepping scheme. |

MultibodyJointLimitsNonlinearConstraintGenerator |
A non-linear position constraint generator to enforce multibody joint limits. |

NonlinearSORProx |
Non-linear position-based consraint solver using the SOR-Prox approach. |

NonlinearUnilateralConstraint |
A non-linear position-based non-penetration constraint. |

SORProx |
A SOR-Prox velocity-based constraints solver. |

SignoriniCoulombPyramidModel |
A contact model generating one non-penetration constraint and two friction constraints per contact. |

SignoriniModel |
A contact model generating one non-penetration constraint per contact. |

UnilateralConstraint |
A unilateral (inequality) consraint. |

UnilateralGroundConstraint |
A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom. |

## Enums

ImpulseLimits |
Limits of impulse applicable by a bilateral constraint. |

## Traits

ContactModel |
The modeling of a contact. |

NonlinearConstraintGenerator |
Implemented by structures that generate non-linear constraints. |