Struct rapier3d::pipeline::PhysicsPipeline [−][src]
pub struct PhysicsPipeline {
pub counters: Counters,
// some fields omitted
}
Expand description
The physics pipeline, responsible for stepping the whole physics simulation.
This structure only contains temporary data buffers. It can be dropped and replaced by a fresh copy at any time. For performance reasons it is recommended to reuse the same physics pipeline instance to benefit from the cached data.
Rapier relies on a time-stepping scheme. Its force computations uses two solvers:
- A velocity based solver based on PGS which computes forces for contact and joint constraints.
- A position based solver based on non-linear PGS which performs constraint stabilization (i.e. correction of errors like penetrations).
Fields
counters: Counters
Counters used for benchmarking only.
Implementations
Initializes a new physics pipeline.
pub fn step(
&mut self,
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
events: &dyn EventHandler
)
pub fn step(
&mut self,
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
events: &dyn EventHandler
)
Executes one timestep of the physics simulation.
This is the same as self.step_generic
, except that it is specialized
to work with RigidBodySet
and ColliderSet
.
pub fn step_generic<Bodies, Colliders>(
&mut self,
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &mut Vec<RigidBodyHandle>,
modified_colliders: &mut Vec<ColliderHandle>,
removed_colliders: &mut Vec<ColliderHandle>,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler
) where
Bodies: ComponentSetMut<RigidBodyPosition> + ComponentSetMut<RigidBodyVelocity> + ComponentSetMut<RigidBodyMassProps> + ComponentSetMut<RigidBodyIds> + ComponentSetMut<RigidBodyForces> + ComponentSetMut<RigidBodyActivation> + ComponentSetMut<RigidBodyChanges> + ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyDamping> + ComponentSet<RigidBodyDominance> + ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderBroadPhaseData> + ComponentSetMut<ColliderChanges> + ComponentSetMut<ColliderPosition> + ComponentSet<ColliderShape> + ComponentSetOption<ColliderParent> + ComponentSet<ColliderType> + ComponentSet<ColliderMaterial> + ComponentSet<ColliderFlags>,
pub fn step_generic<Bodies, Colliders>(
&mut self,
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &mut Vec<RigidBodyHandle>,
modified_colliders: &mut Vec<ColliderHandle>,
removed_colliders: &mut Vec<ColliderHandle>,
impulse_joints: &mut ImpulseJointSet,
multibody_joints: &mut MultibodyJointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler
) where
Bodies: ComponentSetMut<RigidBodyPosition> + ComponentSetMut<RigidBodyVelocity> + ComponentSetMut<RigidBodyMassProps> + ComponentSetMut<RigidBodyIds> + ComponentSetMut<RigidBodyForces> + ComponentSetMut<RigidBodyActivation> + ComponentSetMut<RigidBodyChanges> + ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyDamping> + ComponentSet<RigidBodyDominance> + ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderBroadPhaseData> + ComponentSetMut<ColliderChanges> + ComponentSetMut<ColliderPosition> + ComponentSet<ColliderShape> + ComponentSetOption<ColliderParent> + ComponentSet<ColliderType> + ComponentSet<ColliderMaterial> + ComponentSet<ColliderFlags>,
Executes one timestep of the physics simulation.
Trait Implementations
Auto Trait Implementations
impl RefUnwindSafe for PhysicsPipeline
impl Send for PhysicsPipeline
impl Sync for PhysicsPipeline
impl Unpin for PhysicsPipeline
impl UnwindSafe for PhysicsPipeline
Blanket Implementations
Mutably borrows from an owned value. Read more
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
Checks if self
is actually part of its subset T
(and can be converted to it).
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
The inclusion map: converts self
to the equivalent element of its superset.