Struct RapierState 

pub struct RapierState {

    pub integration_params: IntegrationParameters,
    pub pipeline: PhysicsPipeline,
    pub islands: IslandManager,
    pub broad_phase: BroadPhaseBvh,
    pub narrow_phase: NarrowPhase,
    pub bodies: RigidBodySet,
    pub colliders: ColliderSet,
    pub impulse_joints: ImpulseJointSet,
    pub multibody_joints: MultibodyJointSet,
    pub ccd_solver: CCDSolver,
    pub gravity: Vector,
    pub node_to_body: IndexMap<NodeId, RigidBodyHandle>,
    pub body_to_node: IndexMap<RigidBodyHandle, NodeId>,
    pub node_to_collider: IndexMap<NodeId, ColliderHandle>,
    pub collider_to_node: IndexMap<ColliderHandle, NodeId>,
}

Shared world state: every rapier set the simulation needs, plus the NodeId-to-handle maps that keep scene identity in sync with rapier’s handle namespace.

The four maps are IndexMaps (insertion-ordered) rather than HashMap so iteration order is the same on every run. The simulate plugin walks node_to_body to drive its writeback and event-translation passes, so this gives deterministic writeback and RapierContactEvent order within a single process.

For cross-platform floating-point determinism (different CPUs producing the same bits), enable rapier’s enhanced-determinism Cargo feature on the rapier3d dependency. That is a compile-time feature, not a runtime switch.

Fields are public; reach in via crate::RapierPlugin::with_state_mut for anything not covered by the curated handle API.

Fields

integration_params: IntegrationParameters

pipeline: PhysicsPipeline

islands: IslandManager

broad_phase: BroadPhaseBvh

narrow_phase: NarrowPhase

bodies: RigidBodySet

colliders: ColliderSet

impulse_joints: ImpulseJointSet

multibody_joints: MultibodyJointSet

ccd_solver: CCDSolver

gravity: Vector

node_to_body: IndexMap<NodeId, RigidBodyHandle>

body_to_node: IndexMap<RigidBodyHandle, NodeId>

node_to_collider: IndexMap<NodeId, ColliderHandle>

collider_to_node: IndexMap<ColliderHandle, NodeId>

Implementations

impl RapierState

pub fn new(gravity: Vector) -> Self

pub fn add_body(&mut self, node_id: NodeId, body: RigidBody, collider: Collider)

Insert a rigid body + collider pair and bind them to a scene node. The body and collider should already be configured (use rapier’s RigidBodyBuilder / ColliderBuilder).

pub fn remove_body(&mut self, node_id: NodeId)

Remove the body bound to node_id (and its collider). No-op if the node was never registered.

Uses shift_remove on every map so the insertion order of the remaining entries is preserved; this is what gives the simulate plugin’s writeback a deterministic order across runs.

pub fn clear_bodies(&mut self)

Remove every registered body.

pub fn node_for_collider(&self, handle: ColliderHandle) -> Option<NodeId>

NodeId bound to a collider handle, if any.

pub fn node_for_body(&self, handle: RigidBodyHandle) -> Option<NodeId>

NodeId bound to a rigid body handle, if any.