Module body 

Modules

body_flags

Structs

Body

Body organizational details that are not used in the solver. (b2Body)

BodySim

Body simulation data used for integration of position and velocity. Transform data used for collision and solver preparation. (b2BodySim)

BodyState

Body state, designed for fast conversion to and from SIMD via scatter-gather. Only awake dynamic and kinematic bodies have a body state. Used in the performance critical constraint solver. (b2BodyState, 32 bytes)

Constants

IDENTITY_BODY_STATE

Identity body state, notice the delta_rotation is {1, 0}. (b2_identityBodyState)

Functions

body_sim_location

Location of a body’s sim data: (set_index, local_index). Use to borrow the BodySim through world.solver_sets. (b2GetBodySim resolves to a pointer in C; the index pair is the borrow-safe equivalent.)

create_body

Create a rigid body given a definition. (b2CreateBody)

destroy_body

Destroy a rigid body and everything attached to it: joints, contacts, shapes, and chains. (b2DestroyBody)

get_body_full_id

Get a validated body index from an id. (b2GetBodyFullId — C returns a pointer; Rust returns the raw index into world.bodies)

get_body_sim

Borrow a body’s sim data mutably. (b2GetBodySim)

get_body_state

Borrow a body’s state if it is in the awake set. (b2GetBodyState)

get_body_transform

(b2GetBodyTransform)

get_body_transform_quick

(b2GetBodyTransformQuick)

make_body_id

Create a BodyId from a raw id. (b2MakeBodyId)

make_relative_sweep

Build a sweep relative to a base position so continuous collision keeps float precision far from the origin. The base cancels out of the relative motion the TOI actually solves. (b2MakeRelativeSweep)

remove_body_sim

Remove a body sim from a set with swap-removal, fixing the moved body’s local index. (b2RemoveBodySim)

should_bodies_collide

(b2ShouldBodiesCollide)

sync_body_flags

(b2SyncBodyFlags)

update_body_mass_data

Update a body’s mass, center of mass, rotational inertia, and extents from its shapes. (b2UpdateBodyMassData)

wake_body

Wake a body’s solver set if it is sleeping. Returns true if the set was woken. (b2WakeBody)