Module rapier3d::dynamics

Structures related to dynamics: bodies, impulse_joints, etc.

Structs

• BodyPair
  A pair of rigid body handles.
• CCDSolver
  Solver responsible for performing motion-clamping on fast-moving bodies.
• FixedJoint
  A fixed joint, locks all relative motion between two bodies.
• FixedJointBuilder
  Create fixed joints using the builder pattern.
• GenericJoint
  A generic joint.
• GenericJointBuilder
  Create generic joints using the builder pattern.
• ImpulseJoint
  An impulse-based joint attached to two bodies.
• ImpulseJointHandle
  The unique identifier of a joint added to the joint set. The unique identifier of a collider added to a collider set.
• ImpulseJointSet
  A set of impulse_joints that can be handled by a physics World.
• IntegrationParameters
  Parameters for a time-step of the physics engine.
• IslandManager
  Structure responsible for maintaining the set of active rigid-bodies, and putting non-moving rigid-bodies to sleep to save computation times.
• JointAxesMask
  A bit mask identifying multiple degrees of freedom of a joint.
• JointLimits
  The limits of a joint along one of its degrees of freedom.
• JointMotor
  A joint’s motor along one of its degrees of freedom.
• LockedAxes
  Flags affecting the behavior of the constraints solver for a given contact manifold.
• MassProperties
  The local mass properties of a rigid-body.
• Multibody
  An articulated body simulated using the reduced-coordinates approach.
• MultibodyIndex
  The temporary index of a multibody added to a MultibodyJointSet.
• MultibodyJoint
  An joint attached to two bodies based on the reduced coordinates formalism.
• MultibodyJointHandle
  The unique handle of an multibody_joint added to a MultibodyJointSet.
• MultibodyJointSet
  A set of rigid bodies that can be handled by a physics pipeline.
• MultibodyLink
  One link of a multibody.
• MultibodyLinkId
  Indexes usable to get a multibody link from a MultibodyJointSet.
• PrismaticJoint
  A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.
• PrismaticJointBuilder
  Create prismatic joints using the builder pattern.
• RevoluteJoint
  A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.
• RevoluteJointBuilder
  Create revolute joints using the builder pattern.
• RigidBody
  A rigid body.
• RigidBodyActivation
  The rb_activation status of a body.
• RigidBodyBuilder
  A builder for rigid-bodies.
• RigidBodyCcd
  Information used for Continuous-Collision-Detection.
• RigidBodyChanges
  Flags describing how the rigid-body has been modified by the user.
• RigidBodyColliders
  The set of colliders attached to this rigid-bodies.
• RigidBodyDamping
  Damping factors to progressively slow down a rigid-body.
• RigidBodyDominance
  The dominance groups of a rigid-body.
• RigidBodyForces
  The user-defined external forces applied to this rigid-body.
• RigidBodyHandle
  The unique handle of a rigid body added to a RigidBodySet.
• RigidBodyIds
  Internal identifiers used by the physics engine.
• RigidBodyMassProps
  The mass properties of a rigid-body.
• RigidBodyPosition
  The position of this rigid-body.
• RigidBodySet
  A set of rigid bodies that can be handled by a physics pipeline.
• RigidBodyVelocity
  The velocities of this rigid-body.
• RopeJoint
  A rope joint, limits the maximum distance between two bodies
• RopeJointBuilder
  Create rope joints using the builder pattern.
• SphericalJoint
  A spherical joint, locks all relative translations between two bodies.
• SphericalJointBuilder
  Create spherical joints using the builder pattern.
• SpringJoint
  A spring-damper joint, applies a force proportional to the distance between two objects.
• SpringJointBuilder
  A SpringJoint joint using the builder pattern.

Enums

• CoefficientCombineRule
  Rules used to combine two coefficients.
• JointAxis
  Identifiers of degrees of freedoms of a joint.
• JointEnabled
  Enum indicating whether or not a joint is enabled.
• MotorModel
  The spring-like model used for constraints resolution.
• RigidBodyAdditionalMassProps
  Mass and angular inertia added to a rigid-body on top of its attached colliders’ contributions.
• RigidBodyType
  The status of a body, governing the way it is affected by external forces.

Functions

• unit_joint_limit_constraint
  Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.
• unit_joint_motor_constraint
  Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.

Type Aliases

• BodyStatusDeprecated
  The type of a body, governing the way it is affected by external forces.