Struct rapier3d::dynamics::RigidBodySet

pub struct RigidBodySet { /* private fields */ }

A set of rigid bodies that can be handled by a physics pipeline.

Implementations

impl RigidBodySet

pub fn new() -> Self

Create a new empty set of rigid bodies.

pub fn len(&self) -> usize

The number of rigid bodies on this set.

pub fn is_empty(&self) -> bool

true if there are no rigid bodies in this set.

pub fn contains(&self, handle: RigidBodyHandle) -> bool

Is the given body handle valid?

pub fn insert(&mut self, rb: impl Into<RigidBody>) -> RigidBodyHandle

Insert a rigid body into this set and retrieve its handle.

pub fn remove(
    &mut self,
    handle: RigidBodyHandle,
    islands: &mut IslandManager,
    colliders: &mut ColliderSet,
    impulse_joints: &mut ImpulseJointSet,
    multibody_joints: &mut MultibodyJointSet,
    remove_attached_colliders: bool
) -> Option<RigidBody>

Removes a rigid-body, and all its attached colliders and impulse_joints, from these sets.

pub fn get_unknown_gen(&self, i: u32) -> Option<(&RigidBody, RigidBodyHandle)>

Gets the rigid-body with the given handle without a known generation.

This is useful when you know you want the rigid-body at position i but don’t know what is its current generation number. Generation numbers are used to protect from the ABA problem because the rigid-body position i are recycled between two insertion and a removal.

Using this is discouraged in favor of self.get(handle) which does not suffer form the ABA problem.

pub fn get_unknown_gen_mut(
    &mut self,
    i: u32
) -> Option<(&mut RigidBody, RigidBodyHandle)>

Gets a mutable reference to the rigid-body with the given handle without a known generation.

This is useful when you know you want the rigid-body at position i but don’t know what is its current generation number. Generation numbers are used to protect from the ABA problem because the rigid-body position i are recycled between two insertion and a removal.

Using this is discouraged in favor of self.get_mut(handle) which does not suffer form the ABA problem.

pub fn get(&self, handle: RigidBodyHandle) -> Option<&RigidBody>

Gets the rigid-body with the given handle.

pub fn get_mut(&mut self, handle: RigidBodyHandle) -> Option<&mut RigidBody>

Gets a mutable reference to the rigid-body with the given handle.

pub fn iter(&self) -> impl Iterator<Item = (RigidBodyHandle, &RigidBody)>

Iterates through all the rigid-bodies on this set.

pub fn iter_mut(
    &mut self
) -> impl Iterator<Item = (RigidBodyHandle, &mut RigidBody)>

Iterates mutably through all the rigid-bodies on this set.

pub fn propagate_modified_body_positions_to_colliders(
    &self,
    colliders: &mut ColliderSet
)

Update colliders positions after rigid-bodies moved.

When a rigid-body moves, the positions of the colliders attached to it need to be updated. This update is generally automatically done at the beggining and the end of each simulation step with PhysicsPipeline::step. If the positions need to be updated without running a simulation step (for example when using the QueryPipeline alone), this method can be called manually.

Trait Implementations

impl Clone for RigidBodySet

fn clone(&self) -> RigidBodySet

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Default for RigidBodySet

fn default() -> RigidBodySet

Returns the “default value” for a type.

impl Index<Index> for RigidBodySet

type Output = RigidBody

The returned type after indexing.

fn index(&self, index: Index) -> &RigidBody

Performs the indexing (container[index]) operation.

impl Index<RigidBodyHandle> for RigidBodySet

type Output = RigidBody

The returned type after indexing.

fn index(&self, index: RigidBodyHandle) -> &RigidBody

Performs the indexing (container[index]) operation.

impl IndexMut<RigidBodyHandle> for RigidBodySet

fn index_mut(&mut self, handle: RigidBodyHandle) -> &mut RigidBody

Performs the mutable indexing (container[index]) operation.