Trait rapier2d::pipeline::PhysicsHooks[−][src]

pub trait PhysicsHooks: Send + Sync {
    fn active_hooks(&self) -> PhysicsHooksFlags;

    fn filter_contact_pair(
        &self, 
        _context: &PairFilterContext<'_>
    ) -> Option<SolverFlags> { ... }

    fn filter_intersection_pair(&self, _context: &PairFilterContext<'_>) -> bool { ... }

    fn modify_solver_contacts(
        &self, 
        _context: &mut ContactModificationContext<'_>
    ) { ... }
}

User-defined functions called by the physics engines during one timestep in order to customize its behavior.

Required methods

fn active_hooks(&self) -> PhysicsHooksFlags[src]

The sets of hooks that must be taken into account.

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Provided methods

fn filter_contact_pair(
    &self,
    _context: &PairFilterContext<'_>
) -> Option<SolverFlags>[src]

Applies the contact pair filter.

Note that this method will only be called if self.active_hooks() contains the PhysicsHooksFlags::FILTER_CONTACT_PAIR flags.

User-defined filter for potential contact pairs detected by the broad-phase. This can be used to apply custom logic in order to decide whether two colliders should have their contact computed by the narrow-phase, and if these contact should be solved by the constraints solver

Note that using a contact pair filter will replace the default contact filtering which consists of preventing contact computation between two non-dynamic bodies.

This filtering method is called after taking into account the colliders collision groups.

If this returns None, then the narrow-phase will ignore this contact pair and not compute any contact manifolds for it. If this returns Some, then the narrow-phase will compute contact manifolds for this pair of colliders, and configure them with the returned solver flags. For example, if this returns Some(SolverFlags::COMPUTE_IMPULSES) then the contacts will be taken into account by the constraints solver. If this returns Some(SolverFlags::empty()) then the constraints solver will ignore these contacts.

fn filter_intersection_pair(&self, _context: &PairFilterContext<'_>) -> bool[src]

Applies the intersection pair filter.

Note that this method will only be called if self.active_hooks() contains the PhysicsHooksFlags::FILTER_INTERSECTION_PAIR flags.

User-defined filter for potential intersection pairs detected by the broad-phase.

This can be used to apply custom logic in order to decide whether two colliders should have their intersection computed by the narrow-phase.

Note that using an intersection pair filter will replace the default intersection filtering which consists of preventing intersection computation between two non-dynamic bodies.

This filtering method is called after taking into account the colliders collision groups.

If this returns false, then the narrow-phase will ignore this pair and not compute any intersection information for it. If this return true then the narrow-phase will compute intersection information for this pair.

fn modify_solver_contacts(&self, _context: &mut ContactModificationContext<'_>)[src]

Modifies the set of contacts seen by the constraints solver.

Note that this method will only be called if self.active_hooks() contains the PhysicsHooksFlags::MODIFY_SOLVER_CONTACTS flags.

By default, the content of solver_contacts is computed from manifold.points. This method will be called on each contact manifold which have the flag SolverFlags::modify_solver_contacts set. This method can be used to modify the set of solver contacts seen by the constraints solver: contacts can be removed and modified.

Note that if all the contacts have to be ignored by the constraint solver, you may simply do context.solver_contacts.clear().

Modifying the solver contacts allow you to achieve various effects, including:

  • Simulating conveyor belts by setting the surface_velocity of a solver contact.
  • Simulating shapes with multiply materials by modifying the friction and restitution coefficient depending of the features in contacts.
  • Simulating one-way platforms depending on the contact normal.

Each contact manifold is given a u32 user-defined data that is persistent between timesteps (as long as the contact manifold exists). This user-defined data is initialized as 0 and can be modified in context.user_data.

The world-space contact normal can be modified in context.normal.

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Implementations on Foreign Types

impl PhysicsHooks for ()[src]

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Implementors

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