Struct rhusics_ecs::ContactResolutionSystem

pub struct ContactResolutionSystem<P, R, I, A, O> where
    P: EuclideanSpace,
    P::Diff: Debug,  { /* fields omitted */ }

Do single contact, forward resolution.

Type parameters:

• P: Positional quantity, usually Point2 or Point3
• R: Rotational quantity, usually Basis2 or Quaternion
• I: Inertia, usually Scalar or Matrix3
• A: Angular velocity, usually Scalar or Vector3
• O: Internal type used for abstracting over cross products in 2D/3D, usually Scalar or Vector3

System function

fn(EventChannel<ContactEvent>, Mass, RigidBody, BodyPose, NextFrame<Velocity>, NextFrame<BodyPose>) -> (NextFrame<Velocity>, NextFrame<BodyPose>)

Methods

impl<P, R, I, A, O> ContactResolutionSystem<P, R, I, A, O> where
    P: EuclideanSpace,
    P::Scalar: BaseFloat,
    P::Diff: VectorSpace + InnerSpace + Debug + PartialCrossProduct<P::Diff, Output = O>,
    R: Rotation<P> + ApplyAngular<P::Scalar, A>,
    O: PartialCrossProduct<P::Diff, Output = P::Diff>,
    A: PartialCrossProduct<P::Diff, Output = P::Diff> + Clone + Zero,
    &'b A: Sub<O, Output = A> + Add<O, Output = A>,
    I: Inertia<Orientation = R> + Mul<O, Output = O>, 

pub fn new(contact_reader: ReaderId<ContactEvent<Entity, P>>) -> Self

Create system.

Trait Implementations

impl<'a, P, R, I, A, O> System<'a> for ContactResolutionSystem<P, R, I, A, O> where
    P: EuclideanSpace + Send + Sync + 'static,
    P::Scalar: BaseFloat + Send + Sync + 'static,
    P::Diff: VectorSpace + InnerSpace + Debug + Send + Sync + 'static + PartialCrossProduct<P::Diff, Output = O>,
    R: Rotation<P> + ApplyAngular<P::Scalar, A> + Send + Sync + 'static,
    O: PartialCrossProduct<P::Diff, Output = P::Diff>,
    A: PartialCrossProduct<P::Diff, Output = P::Diff> + Clone + Zero + Send + Sync + 'static,
    &'b A: Sub<O, Output = A> + Add<O, Output = A>,
    I: Inertia<Orientation = R> + Mul<O, Output = O> + Send + Sync + 'static, 

type SystemData = (Fetch<'a, EventChannel<ContactEvent<Entity, P>>>, ReadStorage<'a, Mass<P::Scalar, I>>, ReadStorage<'a, RigidBody<P::Scalar>>, WriteStorage<'a, NextFrame<Velocity<P::Diff, A>>>, ReadStorage<'a, BodyPose<P, R>>, WriteStorage<'a, NextFrame<BodyPose<P, R>>>)

The resource bundle required to execute this system.

fn run(&mut self, data: Self::SystemData)

Executes the system with the required system data.

fn running_time(&self) -> RunningTime

Returns a hint how long the system needs for running. This is used to optimize the way they're executed (might allow more parallelization).