Struct SolverSet 

pub struct SolverSet {
    pub body_sims: Vec<BodySim>,
    pub body_states: Vec<BodyState>,
    pub joint_sims: Vec<JointSim>,
    pub contact_sims: Vec<ContactSim>,
    pub island_sims: Vec<IslandSim>,
    pub set_index: i32,
}

This holds solver set data. The following sets are used:

• static set for all static bodies and joints between static bodies
• active set for all active bodies with body states (no contacts or joints)
• disabled set for disabled bodies and their joints
• all further sets are sleeping island sets along with contacts and joints

The purpose of solver sets is to achieve high memory locality. https://www.youtube.com/watch?v=nZNd5FjSquk (b2SolverSet)

Fields

body_sims: Vec<BodySim>

Body array. Empty for unused set.

body_states: Vec<BodyState>

Body state only exists for active set

joint_sims: Vec<JointSim>

This holds sleeping/disabled joints. Empty for static/active set.

contact_sims: Vec<ContactSim>

This holds all contacts for sleeping sets. This holds non-touching contacts for the awake set.

island_sims: Vec<IslandSim>

The awake set has an array of islands. Sleeping sets normally have a single island; joints created between sleeping sets cause sets to merge, leaving them with multiple islands that merge naturally when woken. The static and disabled sets have no islands.

set_index: i32

Aligns with World::solver_set_id_pool. Used to create a stable id for body/contact/joint/islands.

Trait Implementations

impl Clone for SolverSet

fn clone(&self) -> SolverSet

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SolverSet

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

Formats the value using the given formatter.

impl Default for SolverSet

fn default() -> SolverSet

Returns the “default value” for a type.