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class ConstraintSolver

package oimo.dynamics.constraint

extended by DirectJointConstraintSolver, PgsContactConstraintSolver, PgsJointConstraintSolver

@:build(oimo.m.B.bu())

The base class of all constarint solvers.

Methods

postSolve():Void

Performs post-processes.

postSolveVelocity(timeStep:TimeStep):Void

Performs post-processes of velocity part. Time step information timeStep is given for computing time-depending data.

preSolvePosition(timeStep:TimeStep):Void

Prepares for position iteration (split impulse or nonlinear Gauss-Seidel). Time step information timeStep is given for computing time-depending data.

This may not be called depending on position correction algorithm.

preSolveVelocity(timeStep:TimeStep):Void

Prepares for velocity iteration. Time step information timeStep is given for computing time-depending data.

solvePositionNgs(timeStep:TimeStep):Void

Performs single position iteration (nonlinear Gauss-Seidel)

solvePositionSplitImpulse():Void

Performs single position iteration (split impulse)

solveVelocity():Void

Performs single velocity iteration.

warmStart(timeStep:TimeStep):Void

Applies initial impulses.