Struct heron::rapier_plugin::rapier::dynamics::JointSet

pub struct JointSet { /* fields omitted */ }

A set of joints that can be handled by a physics World.

Implementations

impl JointSet

pub fn new() -> JointSet

Creates a new empty set of joints.

pub fn invalid_handle() -> Index

An always-invalid joint handle.

pub fn len(&self) -> usize

The number of joints on this set.

pub fn joint_graph(&self) -> &InteractionGraph<Joint>

Retrieve the joint graph where edges are joints and nodes are rigid body handles.

pub fn contains(&self, handle: Index) -> bool

Is the given joint handle valid?

pub fn get(&self, handle: Index) -> Option<&Joint>

Gets the joint with the given handle.

pub fn get_unknown_gen(&self, i: usize) -> Option<(&Joint, Index)>

Gets the joint with the given handle without a known generation.

This is useful when you know you want the joint at position i but don't know what is its current generation number. Generation numbers are used to protect from the ABA problem because the joint position i are recycled between two insertion and a removal.

Using this is discouraged in favor of self.get(handle) which does not suffer form the ABA problem.

pub fn iter(&self) -> impl Iterator<Item = (Index, &Joint)>

Iterates through all the joint on this set.

pub fn iter_mut(&mut self) -> impl Iterator<Item = (Index, &mut Joint)>

Iterates mutably through all the joint on this set.

pub fn insert<J>(
    &mut self,
    bodies: &mut RigidBodySet,
    body1: Index,
    body2: Index,
    joint_params: J
) -> Index where
    J: Into<JointParams>, 

Inserts a new joint into this set and retrieve its handle.

pub fn remove(
    &mut self,
    handle: Index,
    bodies: &mut RigidBodySet,
    wake_up: bool
) -> Option<Joint>

Removes a joint from this set.

If wake_up is set to true, then the bodies attached to this joint will be automatically woken up.