Struct PhysicsWorld 

pub struct PhysicsWorld {
    pub gravity: Vec2,
    pub substeps: u32,
    pub sleep_threshold: f32,
    pub fixed_dt: f32,
    /* private fields */
}

The physics simulation world.

Maintains a list of bodies and constraints, steps them each frame, performs collision detection and resolution.

Fields

gravity: Vec2

substeps: u32

sleep_threshold: f32

fixed_dt: f32

Implementations

impl PhysicsWorld

pub fn new() -> Self

pub fn add_body(&mut self, body: RigidBody) -> BodyId

Spawn a body and return its ID.

pub fn remove_body(&mut self, id: BodyId)

Remove a body by ID.

pub fn add_constraint(&mut self, c: Constraint)

Add a constraint.

pub fn body(&self, id: BodyId) -> Option<&RigidBody>

Get a body by ID (shared reference).

pub fn body_mut(&mut self, id: BodyId) -> Option<&mut RigidBody>

Get a body by ID (mutable reference).

pub fn set_gravity_3d(&mut self, g: Vec3)

Apply gravity from Vec3 (ignores Z).

pub fn step(&mut self, dt: f32)

Advance the simulation by dt seconds, using fixed sub-steps.

pub fn contacts(&self) -> &[ContactManifold]

Returns all contact manifolds from the last step.

pub fn positions(&self) -> Vec<(BodyId, Vec2)>

Returns all body positions.

pub fn body_count(&self) -> usize

Trait Implementations

impl Default for PhysicsWorld

fn default() -> Self

Returns the “default value” for a type.