pub struct CCDSolver { /* private fields */ }Expand description
Solver responsible for performing motion-clamping on fast-moving bodies.
Implementations§
source§impl CCDSolver
impl CCDSolver
sourcepub fn with_query_dispatcher<D>(d: D) -> Selfwhere
D: 'static + QueryDispatcher,
pub fn with_query_dispatcher<D>(d: D) -> Selfwhere
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.
sourcepub fn clamp_motions(
&self,
dt: Real,
bodies: &mut RigidBodySet,
impacts: &PredictedImpacts
)
pub fn clamp_motions( &self, dt: Real, bodies: &mut RigidBodySet, impacts: &PredictedImpacts )
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.
sourcepub fn update_ccd_active_flags(
&self,
islands: &IslandManager,
bodies: &mut RigidBodySet,
dt: Real,
include_forces: bool
) -> bool
pub fn update_ccd_active_flags( &self, islands: &IslandManager, bodies: &mut RigidBodySet, dt: Real, include_forces: bool ) -> bool
Updates the set of bodies that needs CCD to be resolved.
Returns true if any rigid-body must have CCD resolved.
sourcepub fn find_first_impact(
&mut self,
dt: Real,
islands: &IslandManager,
bodies: &RigidBodySet,
colliders: &ColliderSet,
narrow_phase: &NarrowPhase
) -> Option<Real>
pub fn find_first_impact( &mut self, dt: Real, islands: &IslandManager, bodies: &RigidBodySet, colliders: &ColliderSet, narrow_phase: &NarrowPhase ) -> Option<Real>
Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider.
sourcepub fn predict_impacts_at_next_positions(
&mut self,
dt: Real,
islands: &IslandManager,
bodies: &RigidBodySet,
colliders: &ColliderSet,
narrow_phase: &NarrowPhase,
events: &dyn EventHandler
) -> PredictedImpacts
pub fn predict_impacts_at_next_positions( &mut self, dt: Real, islands: &IslandManager, bodies: &RigidBodySet, colliders: &ColliderSet, narrow_phase: &NarrowPhase, events: &dyn EventHandler ) -> PredictedImpacts
Outputs the set of bodies as well as their first time-of-impact event.
Trait Implementations§
source§impl<'de> Deserialize<'de> for CCDSolver
impl<'de> Deserialize<'de> for CCDSolver
source§fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where
__D: Deserializer<'de>,
Deserialize this value from the given Serde deserializer. Read more
Auto Trait Implementations§
impl Freeze for CCDSolver
impl !RefUnwindSafe for CCDSolver
impl Send for CCDSolver
impl Sync for CCDSolver
impl Unpin for CCDSolver
impl !UnwindSafe for CCDSolver
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T: ?Sized,
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