constraint

package
v0.2.0 Latest Latest
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 Go to latest Published: Dec 21, 2025 License: Apache-2.0 Imports: 3 Imported by: 0

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Constants

View Source 
const (
	// DefaultCompliance controls soft constraint stiffness for contact resolution.
	// Lower values = stiffer contacts (less penetration, potential jitter)
	// Higher values = softer contacts (more penetration, smoother)
	// Typical range: 1e-10 (very stiff) to 1e-6 (soft)
	// See PHYSICS_GUIDE.md for tuning guidelines.
	DefaultCompliance = 1e-7
)

Variables

This section is empty.

Functions

func ComputeDynamicFriction 

func ComputeDynamicFriction(matA, matB actor.Material) float64

func ComputeRestitution 

func ComputeRestitution(matA, matB actor.Material) float64

func ComputeStaticFriction 

func ComputeStaticFriction(matA, matB actor.Material) float64

Types

type Constraint 

type Constraint interface {
	SolvePosition(dt float64)
	SolveVelocity(dt float64)
}

type ContactConstraint 

type ContactConstraint struct {
	BodyA  *actor.RigidBody
	BodyB  *actor.RigidBody
	Points []ContactPoint
	Normal mgl64.Vec3
}

func (*ContactConstraint) SolvePosition 

func (c *ContactConstraint) SolvePosition(dt float64)

SolvePosition resolves penetration (PBD style, no lambda accumulation)

func (*ContactConstraint) SolveVelocity 

func (c *ContactConstraint) SolveVelocity(dt float64)

SolveVelocity applies restitution

type ContactPoint 

type ContactPoint struct {
	Position    mgl64.Vec3
	Penetration float64
}

Source Files

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