Struct SolverSet 

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

Solver set data for contiguous storage of sims.

Sets 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 their contacts and joints

Purpose: high memory locality. https://www.youtube.com/watch?v=nZNd5FjSquk (b3SolverSet)

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>

Sleeping/disabled joints. Empty for static/active set.

contact_indices: Vec<i32>

All contacts for sleeping sets; non-touching contacts for the awake set. Empty for static and disabled sets. (C: b3Array(int) contactIndices)

island_sims: Vec<IslandSim>

Awake set has an array of islands. Sleeping sets normally have a single island; joints between sleeping sets cause merges with multiple islands. Static and disabled sets have no islands.

set_index: i32

Aligns with World::solver_set_id_pool.

Implementations

impl SolverSet

pub fn free_slot() -> SolverSet

Empty set marked free. (slot after destroy)

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.