Struct DestructibleSet 

pub struct DestructibleSet { /* private fields */ }

Main orchestrator for destructible structures with Rapier integration.

Manages the stress solver and the mapping between solver actors and Rapier bodies. Call step() each frame to advance the simulation.

Implementations

impl DestructibleSet

pub fn new(config: DestructibleConfig) -> Option<Self>

Create a new destructible set.

You must call initialize() after creating the Rapier world to set up the initial bodies.

pub fn from_scenario( scenario: &ScenarioDesc, settings: SolverSettings, gravity: Vec3, policy: FracturePolicy, ) -> Option<Self>

Create a destructible set from a scenario description.

Node sizes are estimated from volume (cube root).

pub fn initialize( &mut self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, ) -> Vec<RigidBodyHandle>

Set up initial Rapier bodies from the solver’s actor table.

Must be called once before the first step().

pub fn step( &mut self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, island_manager: &mut IslandManager, impulse_joints: &mut ImpulseJointSet, multibody_joints: &mut MultibodyJointSet, ) -> StepResult

Run one simulation step:

1. Apply gravity
2. Update stress solver
3. Generate and apply fractures (rate-limited by policy)
4. Create/destroy Rapier bodies for split events
5. Apply excess forces to newly separated actors

pub fn step_with_time( &mut self, now_secs: f32, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, island_manager: &mut IslandManager, impulse_joints: &mut ImpulseJointSet, multibody_joints: &mut MultibodyJointSet, ) -> StepResult

pub fn add_force(&mut self, node_index: u32, position: Vec3, force: Vec3)

Apply an external force to a node (e.g., from a projectile impact).

pub fn add_acceleration( &mut self, node_index: u32, position: Vec3, acceleration: Vec3, )

Apply an external acceleration to a node.

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

Get the Rapier body handle for a node.

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

Get the Rapier collider handle for a node.

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

Get the node index owning a collider.

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

Get the node’s local offset relative to its owning Rapier body.

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

Get the node indices attached to a Rapier 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 fixed support.

pub fn actor_count(&self) -> u32

Current actor count in the stress graph.

pub fn active_bond_count(&self) -> usize

Number of bonds still considered active by the Rust-side fracture tracking.

pub fn body_count(&self) -> usize

Number of tracked Rapier bodies.

pub fn collider_count(&self) -> usize

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

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 solver(&self) -> &ExtStressSolver

Access the underlying solver for advanced use.

pub fn solver_mut(&mut self) -> &mut ExtStressSolver

Mutable access to the underlying solver.

pub fn policy(&self) -> &FracturePolicy

Access the fracture policy.

pub fn set_policy(&mut self, policy: FracturePolicy)

Mutable access to the fracture policy.

pub fn resimulation_options(&self) -> ResimulationOptions

pub fn set_resimulation_options(&mut self, options: ResimulationOptions)

pub fn skip_single_bodies(&self) -> bool

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

pub fn sleep_thresholds(&self) -> SleepThresholdOptions

pub fn set_sleep_thresholds(&mut self, options: SleepThresholdOptions)

pub fn small_body_damping(&self) -> SmallBodyDampingOptions

pub fn set_small_body_damping(&mut self, options: SmallBodyDampingOptions)

pub fn debris_cleanup(&self) -> DebrisCleanupOptions

pub fn set_debris_cleanup(&mut self, options: DebrisCleanupOptions)

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 refresh_collision_groups( &self, bodies: &RigidBodySet, colliders: &mut ColliderSet, )

pub fn dynamic_body_ccd_enabled(&self) -> bool

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

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 pending_split_event_count(&self) -> usize

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

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

pub fn needs_resimulation_snapshot(&self) -> bool

pub fn capture_resimulation_snapshot( &self, bodies: &RigidBodySet, ) -> BodySnapshots

pub fn mark_body_support_contact( &mut self, body_handle: RigidBodyHandle, now_secs: f32, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, ) -> bool

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