Module Solver

type options = {
  1. iterations : int;
  2. warm_starting : bool;
  3. baumgarte : float;
  4. slop : float;
  5. bounce_threshold : float;
  6. matching : float;
}
val default : options
type pair = {
  1. a : int;
  2. b : int;
  3. contacts : Contact.t list;
  4. restitution : float;
  5. friction : float;
}
type memory
val nothing : memory
val solve : options -> dt:float -> ?joints:(float array * Joint2d.t list) -> Body.t array -> pair list -> memory -> Body.t array * memory
val impulses : memory -> (int * int) -> float list