Enum bevy_xpbd_3d::SubstepSet

pub enum SubstepSet {
    Integrate,
    NarrowPhase,
    PostProcessCollisions,
    SolveConstraints,
    SolveUserConstraints,
    UpdateVelocities,
    SolveVelocities,
    StoreImpulses,
    ApplyTranslation,
}

System sets for the the steps in the inner substepping loop. These are typically run in the SubstepSchedule.

1. Integrate
2. Narrow phase
3. Post-process collisions
4. Solve positional and angular constraints
5. Update velocities
6. Solve velocity constraints (dynamic friction and restitution)
7. Store contact impulses in Collisions.
8. Apply AccumulatedTranslation to positions.

Variants

Integrate

Responsible for integrating Newton’s 2nd law of motion, applying forces and moving entities according to their velocities.

See IntegratorPlugin.

NarrowPhase

Responsible for computing contacts between entities and sending collision events.

See NarrowPhasePlugin.

PostProcessCollisions

Responsible for running the PostProcessCollisions schedule to allow user-defined systems to filter and modify collisions.

If you want to modify or remove collisions after SubstepSet::NarrowPhase, you can add custom systems to this set, or to PostProcessCollisions.

See NarrowPhasePlugin.

SolveConstraints

The solver iterates through constraints and solves them.

Note: If you want to create your own constraints, you should add them in SubstepSet::SolveUserConstraints to avoid system order ambiguities.

See SolverPlugin.

SolveUserConstraints

The solver iterates through custom constraints created by the user and solves them.

You can create new constraints by implementing XpbdConstraint for a component and adding the constraint system to this set.

See SolverPlugin.

UpdateVelocities

Responsible for updating velocities after constraint solving.

See SolverPlugin.

SolveVelocities

Responsible for applying dynamic friction, restitution and joint damping at the end of the substepping loop.

See SolverPlugin.

StoreImpulses

Contact impulses computed by the solver are stored in contacts in Collisions.

See SolverPlugin.

ApplyTranslation

Responsible for applying translation accumulated during the substep.

See SolverPlugin.

Trait Implementations

impl Clone for SubstepSet

fn clone(&self) -> SubstepSet

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SubstepSet

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Hash for SubstepSet

fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given Hasher.

fn hash_slice<H>(data: &[Self], state: &mut H)

where H: Hasher, Self: Sized,

Feeds a slice of this type into the given Hasher.

impl PartialEq for SubstepSet

fn eq(&self, other: &SubstepSet) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl SystemSet for SubstepSet

where Self: 'static + Send + Sync + Clone + Eq + Debug + Hash,

fn dyn_clone(&self) -> Box<dyn SystemSet>

Clones this SystemSet.

fn as_dyn_eq(&self) -> &dyn DynEq

Casts this value to a form where it can be compared with other type-erased values.

fn dyn_hash(&self, state: &mut dyn Hasher)

Feeds this value into the given Hasher.

fn system_type(&self) -> Option<TypeId>

Returns Some if this system set is a [SystemTypeSet].

fn is_anonymous(&self) -> bool

Returns true if this system set is an [AnonymousSet].

fn intern(&self) -> Interned<dyn SystemSet>

where Self: Sized,

Returns an Interned value corresponding to self.

impl Copy for SubstepSet

impl Eq for SubstepSet

impl StructuralPartialEq for SubstepSet