Struct ConstraintWorld 

pub struct ConstraintWorld {
    pub bodies: HashMap<BodyHandle, BodyState>,
    pub constraints: Vec<Box<dyn Constraint>>,
    pub solver: ConstraintSolver,
    pub gravity: Vec2,
    pub use_islands: bool,
    pub use_xpbd: bool,
    /* private fields */
}

Manages all bodies and constraints in one place.

Fields

bodies: HashMap<BodyHandle, BodyState>

constraints: Vec<Box<dyn Constraint>>

solver: ConstraintSolver

gravity: Vec2

use_islands: bool

Whether to use island-based solving.

use_xpbd: bool

Whether to use XPBD substep integration.

Implementations

impl ConstraintWorld

pub fn new() -> Self

pub fn add_body(&mut self, state: BodyState) -> BodyHandle

pub fn add_constraint(&mut self, c: Box<dyn Constraint>) -> ConstraintId

pub fn remove_body(&mut self, handle: BodyHandle)

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

pub fn body(&self, h: BodyHandle) -> Option<&BodyState>

pub fn body_mut(&mut self, h: BodyHandle) -> Option<&mut BodyState>

pub fn body_count(&self) -> usize

pub fn constraint_count(&self) -> usize

pub fn total_kinetic_energy(&self) -> f32

Compute total kinetic energy.

pub fn remove_sleeping(&mut self, threshold: f32)

Remove all sleeping bodies from the simulation.

Trait Implementations

impl Default for ConstraintWorld

fn default() -> Self

Returns the “default value” for a type.