Struct BodyTracker 

pub struct BodyTracker { /* private fields */ }

Tracks the mapping between stress graph nodes and Rapier rigid bodies.

Implementations

impl BodyTracker

pub fn new( nodes: &[ScenarioNode], node_sizes: Vec<Vec3>, node_colliders: Vec<Option<ScenarioCollider>>, ) -> Self

Create a new tracker from a scenario description.

pub fn set_dynamic_body_ccd_enabled(&mut self, enabled: bool)

pub fn debris_collision_mode(&self) -> DebrisCollisionMode

pub fn set_debris_collision_mode(&mut self, mode: DebrisCollisionMode)

pub fn ground_body_handle(&self) -> Option<RigidBodyHandle>

pub fn set_ground_body_handle(&mut self, handle: Option<RigidBodyHandle>)

pub fn set_split_child_recentering_enabled(&mut self, enabled: bool)

pub fn set_split_child_velocity_fit_enabled(&mut self, enabled: bool)

pub fn refresh_collision_groups( &self, bodies: &RigidBodySet, colliders: &mut ColliderSet, max_colliders_for_debris: usize, )

pub fn create_initial_bodies( &mut self, actors: &[Actor], bodies: &mut RigidBodySet, colliders: &mut ColliderSet, created_at: f32, small_body_damping: SmallBodyDampingOptions, sleep_thresholds: SleepThresholdOptions, max_colliders_for_debris: usize, ) -> Vec<RigidBodyHandle>

Create initial Rapier bodies from the actor table.

Each actor becomes one rigid body. Support-only actors become fixed bodies. Returns the list of created body handles.

pub fn handle_split( &mut self, event: &SplitEvent, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, island_manager: &mut IslandManager, impulse_joints: &mut ImpulseJointSet, multibody_joints: &mut MultibodyJointSet, created_at: f32, small_body_damping: SmallBodyDampingOptions, sleep_thresholds: SleepThresholdOptions, max_colliders_for_debris: usize, ) -> SplitApplyResult

Handle a split event: create new bodies for child actors.

Returns newly created body handles.

pub fn node_body(&self, node_index: u32) -> Option<RigidBodyHandle>

Get the body handle for a node.

pub fn node_collider(&self, node_index: u32) -> Option<ColliderHandle>

Get the collider handle for a node.

pub fn collider_node(&self, collider: ColliderHandle) -> Option<u32>

Get the node owning a collider.

pub fn node_local_offset(&self, node_index: u32) -> Option<Vec3>

Get the node local offset relative to its owning body.

pub fn body_nodes(&self, body_handle: RigidBodyHandle) -> Vec<u32>

Get the node indices attached to a body.

pub fn body_nodes_slice(&self, body_handle: RigidBodyHandle) -> &[u32]

pub fn body_node_count(&self, body_handle: RigidBodyHandle) -> usize

pub fn body_has_support(&self, body_handle: RigidBodyHandle) -> bool

pub fn is_support(&self, node_index: u32) -> bool

Whether a node is a support (fixed) node.

pub fn body_count(&self) -> usize

Number of tracked bodies.

pub fn collider_count(&self) -> usize

Number of tracked colliders owned by destructible nodes.

pub fn dynamic_body_count(&self, bodies: &RigidBodySet) -> usize

Number of dynamic bodies.

pub fn awake_dynamic_body_count(&self, bodies: &RigidBodySet) -> usize

pub fn sleeping_dynamic_body_count(&self, bodies: &RigidBodySet) -> usize

pub fn support_body_count(&self) -> usize

pub fn ccd_enabled_body_count(&self, bodies: &RigidBodySet) -> usize

pub fn estimate_split_cost( &self, event: &SplitEvent, bodies: &RigidBodySet, ) -> SplitCost

pub fn mark_support_contact( &mut self, body_handle: RigidBodyHandle, now_secs: f32, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, damping: SmallBodyDampingOptions, sleep_thresholds: SleepThresholdOptions, max_colliders_for_debris: usize, ) -> bool

pub fn cleanup_expired_bodies( &mut self, now_secs: f32, cleanup: DebrisCleanupOptions, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, island_manager: &mut IslandManager, impulse_joints: &mut ImpulseJointSet, multibody_joints: &mut MultibodyJointSet, ) -> OptimizationResult

pub fn destroy_nodes( &mut self, nodes: &[u32], bodies: &mut RigidBodySet, colliders: &mut ColliderSet, island_manager: &mut IslandManager, impulse_joints: &mut ImpulseJointSet, multibody_joints: &mut MultibodyJointSet, ) -> Vec<u32>