[−][src]Struct nphysics2d::world::MechanicalWorld
The physics world.
Fields
counters: Counters
Performance counters used for debugging and benchmarking nphysics.
solver: MoreauJeanSolver<N, Handle, CollHandle>
The constraints solver.
integration_parameters: IntegrationParameters<N>
Parameters of the whole simulation.
material_coefficients: MaterialsCoefficientsTable<N>
Coefficient table used for resolving material properties to apply at one contact.
gravity: Vector<N>
The acting on this mechanical world.
Implementations
impl<N: RealField, Handle: BodyHandle, CollHandle: ColliderHandle> MechanicalWorld<N, Handle, CollHandle>
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pub fn new(gravity: Vector<N>) -> Self
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Creates a new physics world with default parameters.
The ground body is automatically created and added to the world without any colliders attached.
pub fn timestep(&self) -> N
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Retrieve the timestep used for the integration.
pub fn set_timestep(&mut self, dt: N)
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Sets the timestep used for the integration.
pub fn maintain<Colliders, Constraints>(
&mut self,
gworld: &mut GeometricalWorld<N, Handle, CollHandle>,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &mut Colliders,
constraints: &mut Constraints
) where
Colliders: ColliderSet<N, Handle, Handle = CollHandle>,
Constraints: JointConstraintSet<N, Handle>,
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&mut self,
gworld: &mut GeometricalWorld<N, Handle, CollHandle>,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &mut Colliders,
constraints: &mut Constraints
) where
Colliders: ColliderSet<N, Handle, Handle = CollHandle>,
Constraints: JointConstraintSet<N, Handle>,
Maintain the internal structures of the mechanical world by handling insersion and removal events from every sets this mechanical world interacts with.
pub fn step<Colliders, Constraints, Forces>(
&mut self,
gworld: &mut GeometricalWorld<N, Handle, CollHandle>,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &mut Colliders,
constraints: &mut Constraints,
forces: &mut Forces
) where
Colliders: ColliderSet<N, Handle, Handle = CollHandle>,
Constraints: JointConstraintSet<N, Handle>,
Forces: ForceGeneratorSet<N, Handle>,
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&mut self,
gworld: &mut GeometricalWorld<N, Handle, CollHandle>,
bodies: &mut dyn BodySet<N, Handle = Handle>,
colliders: &mut Colliders,
constraints: &mut Constraints,
forces: &mut Forces
) where
Colliders: ColliderSet<N, Handle, Handle = CollHandle>,
Constraints: JointConstraintSet<N, Handle>,
Forces: ForceGeneratorSet<N, Handle>,
Execute one time step of the physics simulation.
Auto Trait Implementations
impl<N, Handle, CollHandle> !RefUnwindSafe for MechanicalWorld<N, Handle, CollHandle>
impl<N, Handle, CollHandle> Send for MechanicalWorld<N, Handle, CollHandle> where
N: Scalar,
N: Scalar,
impl<N, Handle, CollHandle> Sync for MechanicalWorld<N, Handle, CollHandle> where
N: Scalar,
N: Scalar,
impl<N, Handle, CollHandle> Unpin for MechanicalWorld<N, Handle, CollHandle> where
CollHandle: Unpin,
Handle: Unpin,
N: Scalar + Unpin,
CollHandle: Unpin,
Handle: Unpin,
N: Scalar + Unpin,
impl<N, Handle, CollHandle> !UnwindSafe for MechanicalWorld<N, Handle, CollHandle>
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,