Struct bevy_rapier3d::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: Counters
Counters used for benchmarking only.
Implementations
impl PhysicsPipeline
[src]
impl PhysicsPipeline
[src]pub fn new() -> PhysicsPipeline
[src]
pub fn new() -> PhysicsPipeline
[src]Initializes a new physics pipeline.
pub fn step_generic<Bodies, Colliders>(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_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, 3_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
impl Default for PhysicsPipeline
[src]
impl Default for PhysicsPipeline
[src]pub fn default() -> PhysicsPipeline
[src]
pub fn default() -> PhysicsPipeline
[src]Returns the “default value” for a type. Read more
Auto Trait Implementations
impl RefUnwindSafe for PhysicsPipeline
impl Send for PhysicsPipeline
impl Sync for PhysicsPipeline
impl Unpin for PhysicsPipeline
impl UnwindSafe for PhysicsPipeline
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
[src]
pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
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Convert Box<dyn Trait>
(where Trait: Downcast
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then be further downcast
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where ConcreteType
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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
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pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any(&self) -> &(dyn Any + 'static)
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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) -> T
Creates Self
using data from the given [World]
impl<T> Instrument for T
[src]
impl<T> Instrument for T
[src]fn instrument(self, span: Span) -> Instrumented<Self>
[src]
fn instrument(self, span: Span) -> Instrumented<Self>
[src]Instruments this type with the provided Span
, returning an
Instrumented
wrapper. Read more
fn in_current_span(self) -> Instrumented<Self>
[src]
fn in_current_span(self) -> Instrumented<Self>
[src]impl<T> Pointable for T
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type Output = T
type Output = T
Should always be Self
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The inverse inclusion map: attempts to construct self
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pub fn is_in_subset(&self) -> bool
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Checks if self
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