Struct rapier3d::dynamics::CCDSolver [−][src]
pub struct CCDSolver { /* fields omitted */ }
Expand description
Solver responsible for performing motion-clamping on fast-moving bodies.
Implementations
impl CCDSolver
[src]
impl CCDSolver
[src]pub fn with_query_dispatcher<D>(d: D) -> Self where
D: 'static + QueryDispatcher,
[src]
pub fn with_query_dispatcher<D>(d: D) -> Self where
D: 'static + QueryDispatcher,
[src]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 Send for CCDSolver
impl Sync for CCDSolver
impl Unpin for CCDSolver
impl !UnwindSafe for CCDSolver
Blanket Implementations
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]
impl<T> BorrowMut<T> for T where
T: ?Sized,
[src]pub fn borrow_mut(&mut self) -> &mut T
[src]
pub fn borrow_mut(&mut self) -> &mut T
[src]Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
[src]
impl<T> Downcast for T where
T: Any,
[src]pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
[src]Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
[src]Convert Rc<Trait>
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) to Rc<Any>
. Rc<Any>
can then be
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pub fn as_any(&self) -> &(dyn Any + 'static)
[src]
pub fn as_any(&self) -> &(dyn Any + 'static)
[src]Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
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[src]
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
[src]Convert &mut Trait
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) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
[src]impl<T> Pointable for T
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type Output = T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
[src]pub fn to_subset(&self) -> Option<SS>
[src]
pub fn to_subset(&self) -> Option<SS>
[src]The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
[src]
pub fn is_in_subset(&self) -> bool
[src]Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
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pub fn to_subset_unchecked(&self) -> SS
[src]Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
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pub fn from_subset(element: &SS) -> SP
[src]The inclusion map: converts self
to the equivalent element of its superset.
impl<T> ToOwned for T where
T: Clone,
[src]
impl<T> ToOwned for T where
T: Clone,
[src]type Owned = T
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
[src]
pub fn to_owned(&self) -> T
[src]Creates owned data from borrowed data, usually by cloning. Read more
pub fn clone_into(&self, target: &mut T)
[src]
pub fn clone_into(&self, target: &mut T)
[src]🔬 This is a nightly-only experimental API. (toowned_clone_into
)
recently added
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