Struct bevy_rapier2d::prelude::PhysicsPipeline [−][src]
pub struct PhysicsPipeline {
pub counters: Counters,
// some fields omitted
}Expand description
The physics pipeline, responsible for stepping the whole physics simulation.
This structure only contains temporary data buffers. It can be dropped and replaced by a fresh copy at any time. For performance reasons it is recommended to reuse the same physics pipeline instance to benefit from the cached data.
Rapier relies on a time-stepping scheme. Its force computations uses two solvers:
- A velocity based solver based on PGS which computes forces for contact and joint constraints.
- A position based solver based on non-linear PGS which performs constraint stabilization (i.e. correction of errors like penetrations).
Fields
counters: CountersCounters used for benchmarking only.
Implementations
Initializes a new physics pipeline.
pub fn step_generic<Bodies, Colliders>(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &mut Vec<RigidBodyHandle, Global>,
modified_colliders: &mut Vec<ColliderHandle, Global>,
removed_colliders: &mut Vec<ColliderHandle, Global>,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler
) where
Bodies: ComponentSetMut<RigidBodyPosition> + ComponentSetMut<RigidBodyVelocity> + ComponentSetMut<RigidBodyMassProps> + ComponentSetMut<RigidBodyIds> + ComponentSetMut<RigidBodyForces> + ComponentSetMut<RigidBodyActivation> + ComponentSetMut<RigidBodyChanges> + ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyDamping> + ComponentSet<RigidBodyDominance> + ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderBroadPhaseData> + ComponentSetMut<ColliderChanges> + ComponentSetMut<ColliderPosition> + ComponentSet<SharedShape> + ComponentSetOption<ColliderParent> + ComponentSet<ColliderType> + ComponentSet<ColliderMaterial> + ComponentSet<ColliderFlags>, [src]
pub fn step_generic<Bodies, Colliders>(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &mut Vec<RigidBodyHandle, Global>,
modified_colliders: &mut Vec<ColliderHandle, Global>,
removed_colliders: &mut Vec<ColliderHandle, Global>,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler
) where
Bodies: ComponentSetMut<RigidBodyPosition> + ComponentSetMut<RigidBodyVelocity> + ComponentSetMut<RigidBodyMassProps> + ComponentSetMut<RigidBodyIds> + ComponentSetMut<RigidBodyForces> + ComponentSetMut<RigidBodyActivation> + ComponentSetMut<RigidBodyChanges> + ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyDamping> + ComponentSet<RigidBodyDominance> + ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderBroadPhaseData> + ComponentSetMut<ColliderChanges> + ComponentSetMut<ColliderPosition> + ComponentSet<SharedShape> + ComponentSetOption<ColliderParent> + ComponentSet<ColliderType> + ComponentSet<ColliderMaterial> + ComponentSet<ColliderFlags>, [src]Executes one timestep of the physics simulation.
Trait Implementations
Returns the “default value” for a type. Read more
Auto Trait Implementations
impl RefUnwindSafe for PhysicsPipelineimpl Send for PhysicsPipelineimpl Sync for PhysicsPipelineimpl Unpin for PhysicsPipelineimpl UnwindSafe for PhysicsPipelineBlanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any, Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can
then be further downcast into Box<ConcreteType> where ConcreteType implements Trait. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be
further downcast into Rc<ConcreteType> where ConcreteType implements Trait. Read more
Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot
generate &Any’s vtable from &Trait’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot
generate &mut Any’s vtable from &mut Trait’s. Read more
impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default, pub fn from_world(_world: &mut World) -> T
pub fn from_world(_world: &mut World) -> TCreates Self using data from the given [World]
Instruments this type with the provided Span, returning an
Instrumented wrapper. Read more
type Output = T
type Output = TShould always be Self
The inverse inclusion map: attempts to construct self from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> boolChecks if self is actually part of its subset T (and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SSUse with care! Same as self.to_subset but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SPThe inclusion map: converts self to the equivalent element of its superset.
pub fn vzip(self) -> V