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SoaRigidBody

oxiphysics_gpu::kernels::rigid::types

Struct SoaRigidBody 

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pub struct SoaRigidBody {
Show 15 fields
    pub count: usize,
    pub pos_x: Vec<f64>,
    pub pos_y: Vec<f64>,
    pub pos_z: Vec<f64>,
    pub vel_x: Vec<f64>,
    pub vel_y: Vec<f64>,
    pub vel_z: Vec<f64>,
    pub quat_x: Vec<f64>,
    pub quat_y: Vec<f64>,
    pub quat_z: Vec<f64>,
    pub quat_w: Vec<f64>,
    pub omega_x: Vec<f64>,
    pub omega_y: Vec<f64>,
    pub omega_z: Vec<f64>,
    pub inv_mass: Vec<f64>,

}
Expand description

Rigid body data in Structure-of-Arrays (SoA) layout.

This layout maps directly to GPU buffer uploads where each quantity (position, velocity, quaternion, etc.) occupies a contiguous memory region, enabling vectorized (SIMD-width) processing in CUDA/WGSL kernels.

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§count: usize

Number of bodies.

§pos_x: Vec<f64>§pos_y: Vec<f64>§pos_z: Vec<f64>§vel_x: Vec<f64>§vel_y: Vec<f64>§vel_z: Vec<f64>§quat_x: Vec<f64>§quat_y: Vec<f64>§quat_z: Vec<f64>§quat_w: Vec<f64>§omega_x: Vec<f64>§omega_y: Vec<f64>§omega_z: Vec<f64>§inv_mass: Vec<f64>

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impl SoaRigidBody

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pub fn from_slice(states: &[RigidBodyState]) -> Self

Build an SoA buffer from a slice of RigidBodyState values.

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pub fn to_vec(&self) -> Vec<RigidBodyState>

Convert back to a Vec<RigidBodyState>.

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pub fn integrate_euler( &mut self, forces: &[[f64; 3]], torques: &[[f64; 3]], dt: f64, )

Integrate all bodies using Euler stepping (SIMD-friendly loop).

Processes all bodies in a single loop over the SoA arrays, mimicking how a GPU kernel would launch one thread per body.

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