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PhysicsWorld

oxiphysics_core::world

Struct PhysicsWorld

pub struct PhysicsWorld {
    pub time: Real,
    pub config: PhysicsConfig,
    pub fixed_dt: Real,
    pub accumulator: Real,
    pub bodies: BodyArena,
    pub constraints: Vec<Constraint>,
    pub events: VecDeque<PhysicsEvent>,
    pub islands: Vec<Island>,
    pub max_events: usize,
}

Expand description

Top-level physics world that owns all simulation state.

Fields§

§time: Real

Simulation time accumulated so far.

§config: PhysicsConfig

Physics configuration.

§fixed_dt: Real

Fixed time step used for stepping.

§accumulator: Real

Accumulated time not yet simulated.

§bodies: BodyArena

All registered bodies.

§constraints: Vec<Constraint>

All constraints.

§events: VecDeque<PhysicsEvent>

Event queue (pending events from last step).

§islands: Vec<Island>

Islands computed at last step.

§max_events: usize

Maximum events held in the queue before oldest are dropped.

Implementations§

impl PhysicsWorld

pub fn new() -> Self

Create a new empty physics world with default config.

pub fn with_config(config: PhysicsConfig) -> Self

Create a new physics world with the given configuration.

pub fn add_body(&mut self, body: Body) -> BodyHandle

Add a body to the world and return its handle.

pub fn remove_body(&mut self, handle: BodyHandle) -> Option<Body>

Remove a body from the world. Returns the body if the handle was valid.

pub fn body(&self, handle: BodyHandle) -> Option<&Body>

Get an immutable reference to a body.

pub fn body_mut(&mut self, handle: BodyHandle) -> Option<&mut Body>

Get a mutable reference to a body.

pub fn body_count(&self) -> usize

Return the number of bodies currently in the world.

pub fn add_constraint(&mut self, constraint: Constraint) -> usize

Add a constraint between bodies and return its index.

pub fn remove_constraint(&mut self, index: usize)

Remove a constraint by index. Swaps with the last to avoid shifting.

pub fn push_event(&mut self, event: PhysicsEvent)

Push an event onto the queue, dropping the oldest if over capacity.

pub fn drain_events(&mut self) -> Vec<PhysicsEvent>

Drain all pending events from the queue.

pub fn set_gravity(&mut self, gx: Real, gy: Real, gz: Real)

Set the world gravity vector.

pub fn step(&mut self, time_step: &TimeStep)

Step the world forward by a fixed TimeStep.

pub fn step_with_accumulator(&mut self, dt: Real) -> u32

Step the world forward by the given delta time, using fixed substeps. Returns the number of substeps taken.

pub fn compute_islands(&mut self)

Recompute simulation islands using union-find on constraint graph. Islands group bodies that interact so they can be solved independently.

pub fn bodies_in_aabb(&self, query: &Aabb) -> Vec<BodyHandle>

Return handles of all dynamic bodies whose axis-aligned bounding box (approximated as a sphere of radius query_radius around center) overlaps the given AABB.

pub fn bodies_in_radius( &self, center: [Real; 3], radius: Real, ) -> Vec<BodyHandle>

Return handles of all bodies within radius of center.

pub fn total_kinetic_energy(&self) -> Real

Total kinetic energy (translational + rotational) in the world.

pub fn total_momentum(&self) -> [Real; 3]

Total linear momentum of the world.

impl PhysicsWorld

pub fn snapshot(&self) -> WorldSnapshot

Take a complete snapshot of the world state.

pub fn restore_snapshot(&mut self, snap: &WorldSnapshot)

Restore the world to a previously taken snapshot.

pub fn apply_force_fields(&mut self, fields: &[ForceField])

Apply all force fields to all dynamic bodies.

pub fn resolve_contacts(&mut self, contacts: &[Contact])

Resolve a list of contacts (sequential impulse, one pass).

pub fn total_angular_momentum(&self) -> [Real; 3]

Compute total angular momentum of the world.

pub fn damp_region(&mut self, center: [Real; 3], radius: Real, factor: Real)

Apply a damping “blast” to all bodies within radius of center, scaling their velocities by factor.

pub fn most_energetic_body(&self) -> Option<BodyHandle>

Return the body with the highest kinetic energy, or None if empty.

pub fn apply_position_correction( &mut self, handle: BodyHandle, delta: [Real; 3], )

Apply a position correction to a body (used after PBD/XPBD solve).

pub fn set_velocity( &mut self, handle: BodyHandle, linear: [Real; 3], angular: [Real; 3], )

Set the velocity of a body by handle.

pub fn set_position(&mut self, handle: BodyHandle, position: [Real; 3])

Teleport a body to a new position without affecting velocity.

pub fn wake_all(&mut self)

Wake all sleeping bodies in the world.

pub fn diagnostics(&self) -> WorldDiagnostics

Return a summary of the world state for diagnostics.

impl PhysicsWorld

pub fn query_sphere(&self, center: [Real; 3], radius: Real) -> Vec<BodyHandle>

Return all body handles whose position is within radius of center.

pub fn query_frustum(&self, frustum: &Frustum) -> Vec<BodyHandle>

Return all body handles whose AABB is at least partially inside frustum.

Bodies without a stored aabb use a small unit-box centred at their position.

pub fn compute_stats(&self) -> WorldStats

Compute a compact statistics snapshot of the current world state.

pub fn serialize_snapshot(&self) -> WorldSerialSnapshot

Serialise the world state to a list of human-readable text lines.

Useful for debugging, logging, and lightweight persistence.

Trait Implementations§

impl Debug for PhysicsWorld

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

Formats the value using the given formatter. Read more

impl Default for PhysicsWorld

fn default() -> Self

Returns the “default value” for a type. Read more

Auto Trait Implementations§

impl Freeze for PhysicsWorld

impl RefUnwindSafe for PhysicsWorld

impl Send for PhysicsWorld

impl Sync for PhysicsWorld

impl Unpin for PhysicsWorld

impl UnsafeUnpin for PhysicsWorld

impl UnwindSafe for PhysicsWorld

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T, U> TryFrom<U> for T
where 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>

Performs the conversion.

impl<T, U> TryInto<U> for T
where 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>

Performs the conversion.