Struct System

pub struct System<INTG: Integrator> { /* private fields */ }

A system representing the computational model for the simulation.

There are three categories of entities that are found in the system (model):

• Objects – Static, Dynamic, Nodetect
• Forces – Gravity
• Constraints – ‘Planar’, ‘Penetration’ (TODO)

Implementations

impl<INTG: Integrator> System<INTG>

pub fn new() -> Self

where INTG: Default,

pub fn step(&self) -> u64

pub fn objects_dynamic(&self) -> &VecMap<Dynamic>

pub fn objects_nodetect(&self) -> &VecMap<Nodetect>

pub fn objects_static(&self) -> &VecMap<Static>

pub fn get_object(&self, id: Id) -> VariantRef<'_>

pub fn segment_query( &self, segment: Segment3<f64>, ignore_list: &[Id], ) -> Vec<(f64, Point3<f64>, Id)>

pub fn handle_event(&mut self, input: Input) -> Vec<Output>

Input event handling.

• CreateObject – if an object is found to be in non-colliding contact with any other objects, those contacts will be registered with the collision system as persistent contacts for the upcoming step
• DestroyObject
• SetGravity
• ClearGravity
• Step – advance the simulation by a single timestep:

  1. Derivative evaluation: forces are accumulated and acceleration computed

  2. Velocities are integrated

  3. Velocity constraints are solved

  4. Positions are integrated using the new velocity (semi-implicit Euler)

  5. Position constraints are solved

  6. Collision detects and resolves collisions in the normalized sub-timestep [0.0-1.0).

     Note that colliding contacts detected at t==1.0 will not produce a collision response event (the next step will detect and resolve this collision), however resting or separating contacts detected at t==1.0 will be registered as a persistent contact for the next simulation step.

pub fn new_object_key(&self, kind: Kind) -> Option<Key>

Returns None if object container is full

pub fn contacts(&self) -> Vec<Vec<(Id, Id, Contact)>>

Trait Implementations

impl<INTG: Clone + Integrator> Clone for System<INTG>

fn clone(&self) -> System<INTG>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<INTG: Debug + Integrator> Debug for System<INTG>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<INTG: Default + Integrator> Default for System<INTG>

fn default() -> System<INTG>

Returns the “default value” for a type.

impl<'de, INTG: Integrator> Deserialize<'de> for System<INTG>

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<INTG: Integrator> Serialize for System<INTG>

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

where __S: Serializer,

Serialize this value into the given Serde serializer.