Struct bevy_rapier2d::prelude::CCDSolver

pub struct CCDSolver { /* fields omitted */ }

Solver responsible for performing motion-clamping on fast-moving bodies.

Implementations

impl CCDSolver

pub fn new() -> CCDSolver

Initializes a new CCD solver

pub fn with_query_dispatcher<D>(d: D) -> CCDSolver where
    D: 'static + QueryDispatcher, 

Initializes a CCD solver with a custom QueryDispatcher used for computing time-of-impacts.

Use this constructor in order to use a custom QueryDispatcher that is aware of your own user-defined shapes.

pub fn clamp_motions<Bodies>(
    &self,
    dt: f32,
    bodies: &mut Bodies,
    impacts: &PredictedImpacts
) where
    Bodies: ComponentSet<RigidBodyCcd> + ComponentSetMut<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyMassProps>, 

Apply motion-clamping to the bodies affected by the given impacts.

The impacts should be the result of a previous call to self.predict_next_impacts.

pub fn update_ccd_active_flags<Bodies>(
    &self,
    islands: &IslandManager,
    bodies: &mut Bodies,
    dt: f32,
    include_forces: bool
) -> bool where
    Bodies: ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyForces>, 

Updates the set of bodies that needs CCD to be resolved.

Returns true if any rigid-body must have CCD resolved.

pub fn find_first_impact<Bodies, Colliders>(
    &mut self,
    dt: f32,
    islands: &IslandManager,
    bodies: &Bodies,
    colliders: &Colliders,
    narrow_phase: &NarrowPhase
) -> Option<f32> where
    Bodies: ComponentSet<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyForces> + ComponentSet<RigidBodyMassProps>,
    Colliders: ComponentSetOption<ColliderParent> + ComponentSet<ColliderPosition> + ComponentSet<SharedShape> + ComponentSet<ColliderType> + ComponentSet<ColliderFlags>, 

Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider.

pub fn predict_impacts_at_next_positions<Bodies, Colliders>(
    &mut self,
    dt: f32,
    islands: &IslandManager,
    bodies: &Bodies,
    colliders: &Colliders,
    narrow_phase: &NarrowPhase,
    events: &dyn EventHandler
) -> PredictedImpacts where
    Bodies: ComponentSet<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyForces> + ComponentSet<RigidBodyMassProps>,
    Colliders: ComponentSetOption<ColliderParent> + ComponentSet<ColliderPosition> + ComponentSet<SharedShape> + ComponentSet<ColliderType> + ComponentSet<ColliderFlags>, 

Outputs the set of bodies as well as their first time-of-impact event.

Trait Implementations

impl Clone for CCDSolver

pub fn clone(&self) -> CCDSolver

Returns a copy of the value.

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

Performs copy-assignment from source.