Struct PhysicsWorld 

pub struct PhysicsWorld { /* private fields */ }

Implementations

impl PhysicsWorld

pub fn new(gravity_x: f32, gravity_y: f32) -> Self

pub fn step(&mut self, dt: f32)

Fixed-timestep physics step. Accumulates dt and runs sub-steps as needed. Uses 4 sub-steps per fixed step (Box2D v3 approach) for improved stack stability: sub-stepping is more effective than extra solver iterations.

TGS Soft Phase 4: Narrowphase runs ONCE per frame, sub-steps use analytical contact updating (O(contacts) vs O(contacts × geometry)).

Contacts are accumulated across all sub-steps (de-duplicated by body pair) so that game code can see every collision via get_contacts().

pub fn add_body( &mut self, body_type: BodyType, shape: Shape, x: f32, y: f32, mass: f32, material: Material, layer: u16, mask: u16, ) -> BodyId

pub fn remove_body(&mut self, id: BodyId)

pub fn get_body(&self, id: BodyId) -> Option<&RigidBody>

pub fn get_body_mut(&mut self, id: BodyId) -> Option<&mut RigidBody>

pub fn set_velocity(&mut self, id: BodyId, vx: f32, vy: f32)

pub fn set_angular_velocity(&mut self, id: BodyId, av: f32)

pub fn apply_force(&mut self, id: BodyId, fx: f32, fy: f32)

pub fn apply_impulse(&mut self, id: BodyId, ix: f32, iy: f32)

pub fn set_position(&mut self, id: BodyId, x: f32, y: f32)

pub fn set_collision_layers(&mut self, id: BodyId, layer: u16, mask: u16)

pub fn add_constraint(&mut self, constraint: Constraint) -> ConstraintId

pub fn remove_constraint(&mut self, id: ConstraintId)

pub fn query_aabb( &self, min_x: f32, min_y: f32, max_x: f32, max_y: f32, ) -> Vec<BodyId>

pub fn raycast( &self, ox: f32, oy: f32, dx: f32, dy: f32, max_dist: f32, ) -> Option<(BodyId, f32, f32, f32)>

pub fn get_contacts(&self) -> &[Contact]

Return all contacts that occurred during the last step() call. Accumulated across all sub-steps, de-duplicated by body pair. This ensures game code sees every collision, even if the bodies separated during a later sub-step.

pub fn get_manifolds(&self) -> &[ContactManifold]

Return all contact manifolds from the last sub-step. Each manifold contains up to 2 contact points with feature-based IDs. Useful for debugging and visualization.

pub fn all_bodies(&self) -> Vec<&RigidBody>

Return all active (non-None) bodies.

pub fn gravity(&self) -> (f32, f32)

Return the world gravity.

pub fn body_count(&self) -> usize

Return the number of active bodies.