IterativeSolver Class
Adapted from BulletPhysics's btIterativeSolver
Constructor
IterativeSolver
()
Item Index
Methods
Methods
addConstraint
-
constraint
adds a constraint to the solver
Parameters:
-
constraintGoblin.Constraintconstraint to be added
onContactDeactivate
()
private
used to remove contact constraints from the system when their contacts are destroyed
onFrictionDeactivate
()
private
used to remove friction constraints from the system when their contacts are destroyed
processContactManifolds
-
contact_manifolds
Converts contact manifolds into contact constraints
Parameters:
-
contact_manifoldsArraycontact manifolds to process
removeConstraint
-
constraint
removes a constraint from the solver
Parameters:
-
constraintGoblin.Constraintconstraint to be removed
Properties
all_constraints
Array
array of all constraints being solved
constraints
Array
array of constraints on the system, excluding contact & friction
contact_constraints
Array
Holds contact constraints generated from contact manifolds
friction_constraints
Array
Holds friction constraints generated from contact manifolds
max_iterations
Number
maximum solver iterations per time step
penetrations_max_iterations
Number
maximum solver iterations per time step to resolve contacts
relaxation
Number
used to relax the contact position solver, 0 is no position correction and 1 is full correction
Default: 0.1
sor_weight
Number
weighting used in the Gauss-Seidel successive over-relaxation solver
warmstarting_factor
Number
how much of the solution to start with on the next solver pass