Struct rapier2d::pipeline::PhysicsPipeline [−][src]
The physics pipeline, responsible for stepping the whole physics simulation.
This structure only contains temporary data buffers. It can be dropped and replaced by a fresh copy at any time. For performance reasons it is recommended to reuse the same physics pipeline instance to benefit from the cached data.
Rapier relies on a time-stepping scheme. Its force computations uses two solvers:
- A velocity based solver based on PGS which computes forces for contact and joint constraints.
- A position based solver based on non-linear PGS which performs constraint stabilization (i.e. correction of errors like penetrations).
Fields
counters: Counters
Counters used for benchmarking only.
Implementations
impl PhysicsPipeline
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pub fn new() -> PhysicsPipeline
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Initializes a new physics pipeline.
pub fn step(
&mut self,
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler
)
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&mut self,
gravity: &Vector<Real>,
integration_parameters: &IntegrationParameters,
broad_phase: &mut BroadPhase,
narrow_phase: &mut NarrowPhase,
bodies: &mut RigidBodySet,
colliders: &mut ColliderSet,
joints: &mut JointSet,
ccd_solver: &mut CCDSolver,
hooks: &dyn PhysicsHooks,
events: &dyn EventHandler
)
Executes one timestep of the physics simulation.
Trait Implementations
impl Default for PhysicsPipeline
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Auto Trait Implementations
impl RefUnwindSafe for PhysicsPipeline
impl Send for PhysicsPipeline
impl Sync for PhysicsPipeline
impl Unpin for PhysicsPipeline
impl UnwindSafe for PhysicsPipeline
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,