Utilities for computing velocity and position constraints.
A bilateral (equality) constraint between two bodies.
A bilateral (equality) constraint between a dynamic body and one without any degrees of freedom.
Logical information of the geometry of a constraint.
A set of all velocity constraints and non-linear position-based constraints.
A generic non-linear position constraint.
Parameters for a time-step of the physics engine.
Set of velocity-based constraints.
Moreau-Jean time-stepping scheme.
A non-linear position constraint generator to enforce multibody joint limits.
A non-linear position-based non-penetration constraint.
A contact model generating one non-penetration constraint and two friction constraints per contact.
A contact model generating one non-penetration constraint per contact.
A unilateral (inequality) consraint.
A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom.
Limits of impulse applicable by a bilateral constraint.
The modeling of a contact.
Implemented by structures that generate non-linear constraints.
A cache for impulses resulting from contacts and joints.