Struct rhusics_ecs::ContactResolutionSystem

pub struct ContactResolutionSystem<P, R, I, A, O, T>where
    P: EuclideanSpace + 'static,
    P::Diff: Debug,{ /* private fields */ }

Do single contact, forward resolution.

Type parameters:

• P: Positional quantity, usually Point2 or Point3
• R: Rotational quantity, usually Basis2 or Quaternion
• I: Inertia, usually Scalar or Matrix3
• A: Angular velocity, usually Scalar or Vector3
• O: Internal type used for abstracting over cross products in 2D/3D, usually Scalar or Vector3
• T: Transform type (BodyPose2 or similar)

System function

fn(EventChannel<ContactEvent>, Mass, PhysicalEntity, T, NextFrame<Velocity>, NextFrame<T>) -> (NextFrame<Velocity>, NextFrame<T>)

Implementations

impl<P, R, I, A, O, T> ContactResolutionSystem<P, R, I, A, O, T>where
    T: Pose<P, R>,
    P: EuclideanSpace,
    P::Scalar: BaseFloat,
    P::Diff: VectorSpace + InnerSpace + Debug + PartialCrossProduct<P::Diff, Output = O>,
    R: Rotation<P> + ApplyAngular<P::Scalar, A>,
    O: PartialCrossProduct<P::Diff, Output = P::Diff>,
    A: PartialCrossProduct<P::Diff, Output = P::Diff> + Clone + Zero,
    for<'b> &'b A: Sub<O, Output = A> + Add<O, Output = A>,
    I: Inertia<Orientation = R> + Mul<O, Output = O>,

pub fn new() -> Self

Create system.

Trait Implementations

impl<'a, P, R, I, A, O, T> System<'a> for ContactResolutionSystem<P, R, I, A, O, T>where
    T: Pose<P, R> + Component + Send + Sync + 'static,
    P: EuclideanSpace + Send + Sync + 'static,
    P::Scalar: BaseFloat + Send + Sync + 'static,
    P::Diff: VectorSpace + InnerSpace + Debug + Send + Sync + 'static + PartialCrossProduct<P::Diff, Output = O>,
    R: Rotation<P> + ApplyAngular<P::Scalar, A> + Send + Sync + 'static,
    O: PartialCrossProduct<P::Diff, Output = P::Diff>,
    A: PartialCrossProduct<P::Diff, Output = P::Diff> + Clone + Zero + Send + Sync + 'static,
    for<'b> &'b A: Sub<O, Output = A> + Add<O, Output = A>,
    I: Inertia<Orientation = R> + Mul<O, Output = O> + Send + Sync + 'static,

type SystemData = (Read<'a, EventChannel<ContactEvent<Entity, P>>, DefaultProvider>, Storage<'a, Mass<<P as EuclideanSpace>::Scalar, I>, Fetch<'a, MaskedStorage<Mass<<P as EuclideanSpace>::Scalar, I>>>>, Storage<'a, PhysicalEntity<<P as EuclideanSpace>::Scalar>, Fetch<'a, MaskedStorage<PhysicalEntity<<P as EuclideanSpace>::Scalar>>>>, Storage<'a, NextFrame<Velocity<<P as EuclideanSpace>::Diff, A>>, FetchMut<'a, MaskedStorage<NextFrame<Velocity<<P as EuclideanSpace>::Diff, A>>>>>, Storage<'a, T, Fetch<'a, MaskedStorage<T>>>, Storage<'a, NextFrame<T>, FetchMut<'a, MaskedStorage<NextFrame<T>>>>)

The resource bundle required to execute this system.

fn run(&mut self, data: Self::SystemData)

Executes the system with the required system data.

fn setup(&mut self, res: &mut Resources)

Sets up the Resources using Self::SystemData::setup.

fn running_time(&self) -> RunningTime

Returns a hint how long the system needs for running. This is used to optimize the way they’re executed (might allow more parallelization).

fn accessor<'b>(&'b self) -> AccessorCow<'a, 'b, Self>

Return the accessor from the SystemData.

fn dispose(self, res: &mut Resources)where
    Self: Sized,

Performs clean up that requires resources from the Resources.