Struct rapier3d::dynamics::ImpulseJointSet

pub struct ImpulseJointSet { /* private fields */ }

A set of impulse_joints that can be handled by a physics World.

Implementations

impl ImpulseJointSet

pub fn new() -> Self

Creates a new empty set of impulse_joints.

pub fn len(&self) -> usize

The number of impulse_joints on this set.

pub fn is_empty(&self) -> bool

true if there are no impulse_joints in this set.

pub fn joint_graph(&self) -> &InteractionGraph<RigidBodyHandle, ImpulseJoint>

Retrieve the joint graph where edges are impulse_joints and nodes are rigid body handles.

pub fn joints_between( &self, body1: RigidBodyHandle, body2: RigidBodyHandle ) -> impl Iterator<Item = (ImpulseJointHandle, &ImpulseJoint)>

Iterates through all the joints between two rigid-bodies.

pub fn attached_joints( &self, body: RigidBodyHandle ) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &ImpulseJoint)>

Iterates through all the impulse joints attached to the given rigid-body.

pub fn map_attached_joints_mut( &mut self, body: RigidBodyHandle, f: impl FnMut(RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &mut ImpulseJoint) )

Iterates through all the impulse joints attached to the given rigid-body.

pub fn attached_enabled_joints( &self, body: RigidBodyHandle ) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &ImpulseJoint)>

Iterates through all the enabled impulse joints attached to the given rigid-body.

pub fn contains(&self, handle: ImpulseJointHandle) -> bool

Is the given joint handle valid?

pub fn get(&self, handle: ImpulseJointHandle) -> Option<&ImpulseJoint>

Gets the joint with the given handle.

pub fn get_mut( &mut self, handle: ImpulseJointHandle ) -> Option<&mut ImpulseJoint>

Gets a mutable reference to the joint with the given handle.

pub fn get_unknown_gen( &self, i: u32 ) -> Option<(&ImpulseJoint, ImpulseJointHandle)>

Gets the joint with the given handle without a known generation.

This is useful when you know you want the joint at index i but don’t know what is its current generation number. Generation numbers are used to protect from the ABA problem because the joint position i are recycled between two insertion and a removal.

Using this is discouraged in favor of self.get(handle) which does not suffer form the ABA problem.

pub fn get_unknown_gen_mut( &mut self, i: u32 ) -> Option<(&mut ImpulseJoint, ImpulseJointHandle)>

Gets a mutable reference to the joint with the given handle without a known generation.

This is useful when you know you want the joint at position i but don’t know what is its current generation number. Generation numbers are used to protect from the ABA problem because the joint position i are recycled between two insertion and a removal.

Using this is discouraged in favor of self.get_mut(handle) which does not suffer form the ABA problem.

pub fn iter(&self) -> impl Iterator<Item = (ImpulseJointHandle, &ImpulseJoint)>

Iterates through all the joint on this set.

pub fn iter_mut( &mut self ) -> impl Iterator<Item = (ImpulseJointHandle, &mut ImpulseJoint)>

Iterates mutably through all the joint on this set.

pub fn insert( &mut self, body1: RigidBodyHandle, body2: RigidBodyHandle, data: impl Into<GenericJoint>, wake_up: bool ) -> ImpulseJointHandle

Inserts a new joint into this set and retrieve its handle.

If wake_up is set to true, then the bodies attached to this joint will be automatically woken up during the next timestep.

pub fn remove( &mut self, handle: ImpulseJointHandle, wake_up: bool ) -> Option<ImpulseJoint>

Removes a joint from this set.

If wake_up is set to true, then the bodies attached to this joint will be automatically woken up.

pub fn remove_joints_attached_to_rigid_body( &mut self, handle: RigidBodyHandle ) -> Vec<ImpulseJointHandle>

Deletes all the impulse_joints attached to the given rigid-body.

The provided rigid-body handle is not required to identify a rigid-body that is still contained by the bodies component set. Returns the (now invalid) handles of the removed impulse_joints.

Trait Implementations

impl Clone for ImpulseJointSet

fn clone(&self) -> ImpulseJointSet

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Default for ImpulseJointSet

fn default() -> ImpulseJointSet

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ImpulseJointSet

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ImpulseJointSet

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.