Struct ImpulseJointSet 

pub struct ImpulseJointSet { /* private fields */ }

The collection that stores all joints connecting rigid bodies in your physics world.

Joints constrain how two bodies can move relative to each other. This set manages all joint instances (hinges, sliders, springs, etc.) using handles for safe access.

Common joint types

• FixedJoint: Weld two bodies together
• RevoluteJoint: Hinge (rotation around axis)
• PrismaticJoint: Slider (translation along axis)
• SpringJoint: Elastic connection
• RopeJoint: Maximum distance limit

Example

let mut joints = ImpulseJointSet::new();

// Create a hinge connecting two bodies
let joint = RevoluteJointBuilder::new(Vector::y_axis())
    .local_anchor1(point![1.0, 0.0, 0.0])
    .local_anchor2(point![-1.0, 0.0, 0.0])
    .build();
let handle = joints.insert(body1, body2, joint, true);

Implementations

impl ImpulseJointSet

pub fn new() -> Self

Creates a new empty set of impulse_joints.

pub fn len(&self) -> usize

Returns how many joints are currently in this collection.

pub fn is_empty(&self) -> bool

Returns true if there are no joints in this collection.

pub fn joint_graph(&self) -> &InteractionGraph<RigidBodyHandle, ImpulseJoint>

Returns the internal graph structure (nodes=bodies, edges=joints).

Advanced usage - most users should use attached_joints() instead.

pub fn joints_between( &self, body1: RigidBodyHandle, body2: RigidBodyHandle, ) -> impl Iterator<Item = (ImpulseJointHandle, &ImpulseJoint)>

Returns all joints connecting two specific bodies.

Usually returns 0 or 1 joint, but multiple joints can connect the same pair.

Example

for (handle, joint) in joints.joints_between(body1, body2) {
    println!("Found joint {:?}", handle);
}

pub fn attached_joints( &self, body: RigidBodyHandle, ) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &ImpulseJoint)>

Returns all joints attached to a specific body.

Each result is (body1, body2, joint_handle, joint) where one of the bodies matches the queried body.

Example

for (b1, b2, j_handle, joint) in joints.attached_joints(body_handle) {
    println!("Body connected to {:?} via {:?}", b2, j_handle);
}

pub fn map_attached_joints_mut( &mut self, body: RigidBodyHandle, f: impl FnMut(RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &mut ImpulseJoint), )

Iterates through all the impulse joints attached to the given rigid-body.

pub fn attached_enabled_joints( &self, body: RigidBodyHandle, ) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, ImpulseJointHandle, &ImpulseJoint)>

Returns only the enabled joints attached to a body.

Same as attached_joints() but filters out disabled joints.

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

Checks if the given joint handle is valid (joint still exists).

pub fn get(&self, handle: ImpulseJointHandle) -> Option<&ImpulseJoint>

Returns a read-only reference to the joint with the given handle.

pub fn get_mut( &mut self, handle: ImpulseJointHandle, wake_up_connected_bodies: bool, ) -> Option<&mut ImpulseJoint>

Returns a mutable reference to the joint with the given handle.

Parameters

• wake_up_connected_bodies - If true, wakes up both bodies connected by this joint

pub fn get_unknown_gen( &self, i: u32, ) -> Option<(&ImpulseJoint, ImpulseJointHandle)>

Gets a joint by index without knowing the generation (advanced/unsafe).

⚠️ Prefer get() instead! This bypasses generation checks. See RigidBodySet::get_unknown_gen for details on the ABA problem.

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

Gets a mutable joint by index without knowing the generation (advanced/unsafe).

⚠️ Prefer get_mut() instead! This bypasses generation checks.

pub fn iter(&self) -> impl Iterator<Item = (ImpulseJointHandle, &ImpulseJoint)>

Iterates over all joints in this collection.

Each iteration yields (joint_handle, &joint).

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

Iterates over all joints with mutable access.

Each iteration yields (joint_handle, &mut joint).

pub fn insert( &mut self, body1: RigidBodyHandle, body2: RigidBodyHandle, data: impl Into<GenericJoint>, wake_up: bool, ) -> ImpulseJointHandle

Adds a joint connecting two bodies and returns its handle.

The joint constrains how the two bodies can move relative to each other.

Parameters

• body1, body2 - The two bodies to connect
• data - The joint configuration (FixedJoint, RevoluteJoint, etc.)
• wake_up - If true, wakes up both bodies

Example

let joint = RevoluteJointBuilder::new(Vector::y_axis())
    .local_anchor1(point![1.0, 0.0, 0.0])
    .local_anchor2(point![-1.0, 0.0, 0.0])
    .build();
let handle = joints.insert(body1, body2, joint, true);

pub fn remove( &mut self, handle: ImpulseJointHandle, wake_up: bool, ) -> Option<ImpulseJoint>

Removes a joint from the world.

Returns the removed joint if it existed, or None if the handle was invalid.

Parameters

• wake_up - If true, wakes up both bodies that were connected by this joint

Example

if let Some(joint) = joints.remove(joint_handle, true) {
    println!("Removed joint between {:?} and {:?}", joint.body1, joint.body2);
}

pub fn remove_joints_attached_to_rigid_body( &mut self, handle: RigidBodyHandle, ) -> Vec<ImpulseJointHandle>

Deletes all the impulse_joints attached to the given rigid-body.

The provided rigid-body handle is not required to identify a rigid-body that is still contained by the bodies component set. Returns the (now invalid) handles of the removed impulse_joints.

Trait Implementations

impl Clone for ImpulseJointSet

fn clone(&self) -> ImpulseJointSet

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ImpulseJointSet

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for ImpulseJointSet

fn default() -> ImpulseJointSet

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ImpulseJointSet

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ImpulseJointSet

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.