Struct rapier3d::pipeline::PhysicsPipeline
source · [−]pub struct PhysicsPipeline {
pub counters: Counters,
/* private fields */
}
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
sourceimpl PhysicsPipeline
impl PhysicsPipeline
sourcepub fn new() -> PhysicsPipeline
pub fn new() -> PhysicsPipeline
Initializes a new physics pipeline.
sourcepub 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,
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,
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
.
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
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> Pointable for T
impl<T> Pointable for T
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.