[][src]Module nphysics2d::solver

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.

IntegrationParameters

Parameters for a time-step of the physics engine.

LinearConstraints

Set of velocity-based constraints.

MoreauJeanSolver

Moreau-Jean time-stepping scheme.

MultibodyJointLimitsNonlinearConstraintGenerator

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

NonlinearUnilateralConstraint

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

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.

Type Definitions

ImpulseCache

A cache for impulses resulting from contacts and joints.