Struct PhysicsWorld 

pub struct PhysicsWorld {
    pub gravity: [f32; 3],
    pub sleep_config: SleepConfig,
    pub dreamspace: DreamSpace,
    pub superposition: Vec<SuperpositionState>,
    /* private fields */
}

CPU-deterministic physics simulation world.

Fields

gravity: [f32; 3]

sleep_config: SleepConfig

dreamspace: DreamSpace

DreamSpace incremental broadphase (alternative to SpatialHashGrid).

superposition: Vec<SuperpositionState>

Per-body superposition state. Parallel to bodies Vec.

Implementations

impl PhysicsWorld

pub fn new() -> Self

pub fn add_body(&mut self, body: RigidBody) -> BodyId

Add a rigid body. Returns its handle.

pub fn remove_body(&mut self, id: BodyId) -> bool

Remove a rigid body by ID. Returns true if found.

pub fn body(&self, id: BodyId) -> Option<&RigidBody>

Get body by ID.

pub fn body_mut(&mut self, id: BodyId) -> Option<&mut RigidBody>

Get mutable body by ID.

pub fn body_count(&self) -> usize

Number of active bodies.

pub fn bodies(&self) -> &[RigidBody]

Access all bodies (read-only slice).

pub fn set_broadphase_cell_size(&mut self, size: f32)

Set broadphase cell size. Optimal: ~2x the largest body radius. Smaller cells = faster query at high body counts, more memory.

pub fn bodies_mut_slice(&mut self) -> &mut [RigidBody]

Mutable access to all bodies (for superposition state toggling).

pub fn body_ids(&self) -> &[BodyId]

Access all body IDs.

pub fn step(&mut self, dt: f32)

Step the simulation forward by dt seconds. Sequence: apply gravity → detect contacts → resolve contacts → integrate → sleep.

pub fn step_dreamspace(&mut self, dt: f32)

Step using DreamSpace incremental broadphase. Same physics as step() but only re-queries cells that had boundary crossings. First call triggers a full rebuild; subsequent calls are incremental.

pub fn step_superposition(&mut self, dt: f32, observer: &SuperpositionObserver)

Step with DreamSuperposition — cell-level coherence collapse + decoherence rings.

Phase 0: Cell-level coherence collapse (O(C) cells, not O(N) bodies) Phase 1: Gravity (Active + Decohering-on-tick only) Phase 2: Broadphase (DreamSpace incremental, Active + Decohering only) Phase 3: Narrowphase (filtered pairs) Phase 4: Contact wake + resolve Phase 5: Integrate (Active + Decohering-on-tick) Phase 6: DreamSpace update

pub fn superposition_counts(&self) -> (u32, u32, u32, u32)

Count bodies in each superposition state: (active, decohering, superposed, dormant).

pub fn raycast( &self, origin: [f32; 3], direction: [f32; 3], max_dist: f32, ) -> Option<RayHit>

Cast a ray and return the closest hit.

pub fn contacts(&self) -> &[Contact]

Read-only access to contacts from the last step.

Trait Implementations

impl Default for PhysicsWorld

fn default() -> Self

Returns the “default value” for a type.