Struct heron::rapier_plugin::rapier3d::pipeline::PhysicsPipeline [−]
pub struct PhysicsPipeline {
pub counters: Counters,
// some fields omitted
}
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
impl PhysicsPipeline
impl PhysicsPipeline
pub fn new() -> PhysicsPipeline
pub fn new() -> PhysicsPipeline
Initializes a new physics pipeline.
pub fn step(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
events: &dyn EventHandler
)
pub fn step(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<RigidBodySet, ColliderSet>,
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
.
pub fn step_generic<Bodies, Colliders>(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &mut Vec<RigidBodyHandle, Global>,
modified_colliders: &mut Vec<ColliderHandle, Global>,
removed_colliders: &mut Vec<ColliderHandle, Global>,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler
) where
Bodies: ComponentSetMut<RigidBodyPosition> + ComponentSetMut<RigidBodyVelocity> + ComponentSetMut<RigidBodyMassProps> + ComponentSetMut<RigidBodyIds> + ComponentSetMut<RigidBodyForces> + ComponentSetMut<RigidBodyActivation> + ComponentSetMut<RigidBodyChanges> + ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyDamping> + ComponentSet<RigidBodyDominance> + ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderBroadPhaseData> + ComponentSetMut<ColliderChanges> + ComponentSetMut<ColliderPosition> + ComponentSet<SharedShape> + ComponentSetOption<ColliderParent> + ComponentSet<ColliderType> + ComponentSet<ColliderMaterial> + ComponentSet<ColliderFlags>,
pub fn step_generic<Bodies, Colliders>(
&mut self,
gravity: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>,
integration_parameters: &IntegrationParameters,
islands: &mut IslandManager,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut Bodies,
colliders: &mut Colliders,
modified_bodies: &mut Vec<RigidBodyHandle, Global>,
modified_colliders: &mut Vec<ColliderHandle, Global>,
removed_colliders: &mut Vec<ColliderHandle, Global>,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks<Bodies, Colliders>,
events: &dyn EventHandler
) where
Bodies: ComponentSetMut<RigidBodyPosition> + ComponentSetMut<RigidBodyVelocity> + ComponentSetMut<RigidBodyMassProps> + ComponentSetMut<RigidBodyIds> + ComponentSetMut<RigidBodyForces> + ComponentSetMut<RigidBodyActivation> + ComponentSetMut<RigidBodyChanges> + ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyDamping> + ComponentSet<RigidBodyDominance> + ComponentSet<RigidBodyType>,
Colliders: ComponentSetMut<ColliderBroadPhaseData> + ComponentSetMut<ColliderChanges> + ComponentSetMut<ColliderPosition> + ComponentSet<SharedShape> + ComponentSetOption<ColliderParent> + ComponentSet<ColliderType> + ComponentSet<ColliderMaterial> + ComponentSet<ColliderFlags>,
Executes one timestep of the physics simulation.
Trait Implementations
impl Default for PhysicsPipeline
impl Default for PhysicsPipeline
pub fn default() -> PhysicsPipeline
pub fn default() -> PhysicsPipeline
Returns the “default value” for a type. Read more
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
Mutably borrows from an owned value. Read more
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T: Any,
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impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default,
pub fn from_world(_world: &mut World) -> T
pub fn from_world(_world: &mut World) -> T
Creates Self
using data from the given [World]
impl<T> Pointable for T
impl<T> Pointable for T
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pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
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pub fn to_subset_unchecked(&self) -> SS
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