Struct rapier2d::dynamics::CCDSolver [−][src]
pub struct CCDSolver { /* fields omitted */ }
Expand description
Solver responsible for performing motion-clamping on fast-moving bodies.
Implementations
Initializes a CCD solver with a custom QueryDispatcher
used for computing time-of-impacts.
Use this constructor in order to use a custom QueryDispatcher
that is aware of your own
user-defined shapes.
pub fn clamp_motions<Bodies>(
&self,
dt: Real,
bodies: &mut Bodies,
impacts: &PredictedImpacts
) where
Bodies: ComponentSet<RigidBodyCcd> + ComponentSetMut<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyMassProps>,
[src]
pub fn clamp_motions<Bodies>(
&self,
dt: Real,
bodies: &mut Bodies,
impacts: &PredictedImpacts
) where
Bodies: ComponentSet<RigidBodyCcd> + ComponentSetMut<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyMassProps>,
[src]Apply motion-clamping to the bodies affected by the given impacts
.
The impacts
should be the result of a previous call to self.predict_next_impacts
.
pub fn update_ccd_active_flags<Bodies>(
&self,
islands: &IslandManager,
bodies: &mut Bodies,
dt: Real,
include_forces: bool
) -> bool where
Bodies: ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyForces>,
[src]
pub fn update_ccd_active_flags<Bodies>(
&self,
islands: &IslandManager,
bodies: &mut Bodies,
dt: Real,
include_forces: bool
) -> bool where
Bodies: ComponentSetMut<RigidBodyCcd> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyForces>,
[src]Updates the set of bodies that needs CCD to be resolved.
Returns true
if any rigid-body must have CCD resolved.
pub fn find_first_impact<Bodies, Colliders>(
&mut self,
dt: Real,
islands: &IslandManager,
bodies: &Bodies,
colliders: &Colliders,
narrow_phase: &NarrowPhase
) -> Option<Real> where
Bodies: ComponentSet<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyForces> + ComponentSet<RigidBodyMassProps>,
Colliders: ComponentSetOption<ColliderParent> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape> + ComponentSet<ColliderType> + ComponentSet<ColliderFlags>,
[src]
pub fn find_first_impact<Bodies, Colliders>(
&mut self,
dt: Real,
islands: &IslandManager,
bodies: &Bodies,
colliders: &Colliders,
narrow_phase: &NarrowPhase
) -> Option<Real> where
Bodies: ComponentSet<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyForces> + ComponentSet<RigidBodyMassProps>,
Colliders: ComponentSetOption<ColliderParent> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape> + ComponentSet<ColliderType> + ComponentSet<ColliderFlags>,
[src]Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider.
pub fn predict_impacts_at_next_positions<Bodies, Colliders>(
&mut self,
dt: Real,
islands: &IslandManager,
bodies: &Bodies,
colliders: &Colliders,
narrow_phase: &NarrowPhase,
events: &dyn EventHandler
) -> PredictedImpacts where
Bodies: ComponentSet<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyForces> + ComponentSet<RigidBodyMassProps>,
Colliders: ComponentSetOption<ColliderParent> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape> + ComponentSet<ColliderType> + ComponentSet<ColliderFlags>,
[src]
pub fn predict_impacts_at_next_positions<Bodies, Colliders>(
&mut self,
dt: Real,
islands: &IslandManager,
bodies: &Bodies,
colliders: &Colliders,
narrow_phase: &NarrowPhase,
events: &dyn EventHandler
) -> PredictedImpacts where
Bodies: ComponentSet<RigidBodyPosition> + ComponentSet<RigidBodyVelocity> + ComponentSet<RigidBodyCcd> + ComponentSet<RigidBodyColliders> + ComponentSet<RigidBodyForces> + ComponentSet<RigidBodyMassProps>,
Colliders: ComponentSetOption<ColliderParent> + ComponentSet<ColliderPosition> + ComponentSet<ColliderShape> + ComponentSet<ColliderType> + ComponentSet<ColliderFlags>,
[src]Outputs the set of bodies as well as their first time-of-impact event.
Trait Implementations
Auto Trait Implementations
impl !RefUnwindSafe for CCDSolver
impl !UnwindSafe for CCDSolver
Blanket Implementations
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