Struct PyWorld 

pub struct PyWorld {
    pub bodies: PyRigidBodySet,
    pub joints: PyJointSet,
    pub gravity: [f64; 3],
    pub time: f64,
    /* private fields */
}

A self-contained physics world managing bodies, colliders, and joints.

Fields

bodies: PyRigidBodySet

All rigid bodies.

joints: PyJointSet

All joints.

gravity: [f64; 3]

Gravity vector.

time: f64

Elapsed simulation time.

Implementations

impl PyWorld

pub fn new(gravity: [f64; 3]) -> Self

Create a world with the given gravity.

pub fn earth_gravity() -> Self

Create a world with Earth gravity.

pub fn create_body(&mut self, mass: f64, position: [f64; 3]) -> u32

Add a dynamic body; returns handle.

pub fn create_static_body(&mut self, position: [f64; 3]) -> u32

Add a static body; returns handle.

pub fn create_collider(&mut self, collider_desc: PyCollider) -> u32

Add a collider to a body; returns collider handle.

pub fn step(&mut self, dt: f64)

Step the simulation by dt seconds.

pub fn query_ray( &self, origin: [f64; 3], direction: [f64; 3], max_dist: f64, ) -> Vec<PyRayResult>

Cast a ray and return all hits sorted by distance.

pub fn query_overlap(&self) -> Vec<(u32, u32)>

Query all pairs of overlapping colliders.

pub fn get_contacts(&self) -> &[PyContact]

Return contacts from the last step.

Trait Implementations

impl Clone for PyWorld

fn clone(&self) -> PyWorld

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PyWorld

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for PyWorld

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for PyWorld

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

where __S: Serializer,

Serialize this value into the given Serde serializer.