Struct rapier3d::dynamics::RigidBodySet

pub struct RigidBodySet { /* fields omitted */ }

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: RigidBody) -> RigidBodyHandle

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

pub fn remove(
    &mut self,
    handle: RigidBodyHandle,
    colliders: &mut ColliderSet,
    joints: &mut JointSet
) -> Option<RigidBody>

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

pub fn wake_up(&mut self, handle: RigidBodyHandle, strong: bool)

Forces the specified rigid-body to wake up if it is dynamic.

If strong is true then it is assured that the rigid-body will remain awake during multiple subsequent timesteps.

pub fn get_unknown_gen(&self, i: usize) -> 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: usize
) -> 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 iter_active_kinematic<'a>(
    &'a self
) -> impl Iterator<Item = (RigidBodyHandle, &'a RigidBody)>

Iter through all the active kinematic rigid-bodies on this set.

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

Iter through all the active dynamic rigid-bodies on this set.

pub fn foreach_active_dynamic_body_mut(
    &mut self,
    f: impl FnMut(RigidBodyHandle, &mut RigidBody)
)

Applies the given function on all the active dynamic rigid-bodies contained by this set.

Trait Implementations

impl Clone for RigidBodySet

fn clone(&self) -> RigidBodySet

Returns a copy of the value.

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

Performs copy-assignment from source.

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.