[−][src]Module nphysics3d::solver::helper

Utilities for computing velocity and position constraints.

Enums

The direction of a force in world-space.

Functions

align_axis	Generate position constraints to moved the body parts such that the given axis will become aligned.
cancel_relative_angular_velocity	Generate velocity constraints to cancel the relative angular velocity of two bodies.
cancel_relative_angular_velocity_wrt_axis	Generate velocity constraints to cancel the relative angular velocity of two bodies wrt. the given axis.
cancel_relative_linear_velocity	Generates velocity constraints to cancel the relative linear velocity of two body parts.
cancel_relative_linear_velocity_wrt_axis	Generates velocity constraints to cancel the relative linear velocity of two body parts wrt the given axis.
cancel_relative_rotation	Generate position constraints to cancel the relative rotation of two bodies.
cancel_relative_translation	Generate position constraints to cancel the relative translation of two bodies.
cancel_relative_translation_wrt_axis	Generate position constraints to cancel the relative translation of two bodies wrt the given axis.
constraint_pair_geometry	Fills all the jacobians (and the jacobians multiplied by the invers augmented mass matricxs) for a constraint applying a force at the points `center1, center2` and the direction `dir`.
constraints_are_ground_constraints	Test if a constraint between the two given bodies should be a ground constraint (a constraint between a dynamic body and one without any degree of freedom).
project_anchor_to_axis	Generate position constraints to project `anchor2` into the axis with direction `axis1` and passing through the `anchor1`.
restore_angle_between_axis	Generate position constraints to ensure the two given axis are seperated by the given angle.
restrict_relative_angular_velocity_to_axis	Generate velocity constraints to cancel the relative angular velocity of two bodies along all axis except the one provided.
restrict_relative_linear_velocity_to_axis	Generate velocity constraints to cancel the relative linear velocity of two bodies along all axis except the one provided.
split_ext_vels	Retrieve the external velocity subvectors for the given bodies.