# [−][src]Module nphysics3d::solver

Constraint solver.

## Re-exports

`pub use self::helper::ForceDirection;` |

## Modules

helper | Utilities for computing velocity and position constraints. |

## Structs

BilateralConstraint | A bilateral (equality) constraint between two bodies. |

BilateralGroundConstraint | A bilateral (equality) constraint between a dynamic body and one without any degrees of freedom. |

ConstraintGeometry | Logical information of the geometry of a constraint. |

ConstraintSet | A set of all velocity constraints and non-linear position-based constraints. |

GenericNonlinearConstraint | A generic non-linear position constraint. |

ImpulseCache | A cache for impulses. |

IntegrationParameters | Parameters for a time-step of the physics engine. |

MoreauJeanSolver | Moreau-Jean time-stepping scheme. |

MultibodyJointLimitsNonlinearConstraintGenerator | A non-linear position constraint generator to enforce multibody joint limits. |

NonlinearUnilateralConstraint | A non-linear position-based non-penetration constraint. |

SignoriniCoulombPyramidModel | A contact model generating one non-penetration constraint and two friction constraints per contact. |

SignoriniModel | A contact model generating one non-penetration constraint per contact. |

UnilateralConstraint | A unilateral (inequality) consraint. |

UnilateralGroundConstraint | A unilateral (inequality) constraint between a dynamic body and one without any degrees of freedom. |

## Enums

ImpulseLimits | Limits of impulse applicable by a bilateral constraint. |

## Traits

ContactModel | The modeling of a contact. |

NonlinearConstraintGenerator | Implemented by structures that generate non-linear constraints. |