Struct SweptCcd

pub struct SweptCcd {
    pub mode: SweepMode,
    pub include_dynamic: bool,
    pub linear_threshold: Scalar,
    pub angular_threshold: Scalar,
}

A component that enables sweep-based Continuous Collision Detection (CCD) for a RigidBody. This helps prevent missed collisions for small and fast-moving objects.

By default, swept CCD considers both translational and rotational motion, and is used against all types of rigid bodies and colliders. This behavior can be modified by changing SweptCcd::mode and other properties.

CCD is generally not useful for large or slow objects, as they are less likely to miss collisions. It is recommended to only use swept CCD when necessary, as it is more expensive than speculative collision and discrete collision detection.

Read the module-level documentation for more information about what CCD is, what it is used for, and what limitations and tradeoffs it can have.

Example

use avian2d::prelude::*;
use bevy::prelude::*;

fn setup(mut commands: Commands) {
    // Spawn a dynamic rigid body with swept CCD, travelling towards the right at a high speed.
    // The default CCD configuration considers both translational and rotational motion.
    commands.spawn((
        RigidBody::Dynamic,
        SweptCcd::default(),
        LinearVelocity(Vec2::X * 100.0),
        Collider::circle(0.1),
        Transform::from_xyz(-10.0, 3.0, 0.0),
    ));

    // Spawn another dynamic rigid body with swept CCD, but this time only considering
    // linear motion and not rotation.
    commands.spawn((
        RigidBody::Dynamic,
        SweptCcd::LINEAR, // or `SweptCcd::new_with_mode(SweepMode::Linear)`
        LinearVelocity(Vec2::X * 100.0),
        Collider::circle(0.1),
        Transform::from_xyz(-10.0, -3.0, 0.0),
    ));

    // Spawn a thin, long object rotating at a high speed.
    // The first ball should hit it, but the second one does not consider
    // rotational motion, and most likely passes through.
    commands.spawn((
        RigidBody::Dynamic,
        LockedAxes::TRANSLATION_LOCKED,
        AngularVelocity(100.0),
        Collider::rectangle(0.2, 10.0),
    ));

    // Spawn another thin, long object, this time not rotating.
    // The second ball should now hit this.
    commands.spawn((
        RigidBody::Static,
        Collider::rectangle(0.2, 10.0),
        Transform::from_xyz(15.0, 0.0, 0.0),
    ));
}

Fields

mode: SweepMode

The type of sweep used for swept CCD.

If two entities with different sweep modes collide, SweepMode::NonLinear is preferred.

The default is SweepMode::NonLinear, which considers both translational and rotational motion.

include_dynamic: bool

If true, swept CCD is performed against dynamic rigid bodies. Otherwise, it is only performed against static geometry and kinematic bodies.

The default is true.

linear_threshold: Scalar

Determines how fast two bodies must be moving relative to each other for swept CCD to be activated for them.

If the linear velocity is below this threshold, CCD is skipped, unless the angular velocity exceeds the angular_threshold.

The default is 0.0, meaning that CCD is performed regardless of the relative velocity.

angular_threshold: Scalar

Determines how fast two bodies must be rotating relative to each other for swept CCD to be activated for them.

If the angular velocity is below this threshold, CCD is skipped, unless the linear velocity exceeds the linear_threshold.

The default is 0.0, meaning that CCD is performed regardless of the relative velocity.

Implementations

impl SweptCcd

pub const LINEAR: Self

Continuous Collision Detection with SweepMode::Linear.

This only takes into account translational motion, and can lead to tunneling against thin, fast-spinning objects.

pub const NON_LINEAR: Self

Continuous Collision Detection with SweepMode::NonLinear.

This takes into account both translational and rotational motion.

pub const fn new_with_mode(mode: SweepMode) -> Self

Creates a new SweptCcd configuration with the given SweepMode.

pub const fn with_velocity_threshold( self, linear: Scalar, angular: Scalar, ) -> Self

Sets the linear and angular velocity thresholds in self, determining how fast two bodies must be moving relative to each other for swept CCD to be activated for them.

CCD will be active if either of the two thresholds is exceeded.

pub const fn include_dynamic(self, should_include: bool) -> Self

Sets whether swept CCD is performed against dynamic rigid bodies. If false, it is only performed against static geometry and kinematic bodies.

Trait Implementations

impl Clone for SweptCcd

fn clone(&self) -> SweptCcd

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Component for SweptCcd

where Self: Send + Sync + 'static,

const STORAGE_TYPE: StorageType = ::bevy::ecs::component::StorageType::Table

A constant indicating the storage type used for this component.

type Mutability = Mutable

A marker type to assist Bevy with determining if this component is mutable, or immutable. Mutable components will have [Component<Mutability = Mutable>], while immutable components will instead have [Component<Mutability = Immutable>].

fn register_required_components( _requiree: ComponentId, required_components: &mut RequiredComponentsRegistrator<'_, '_>, )

Registers required components.

fn clone_behavior() -> ComponentCloneBehavior

Called when registering this component, allowing to override clone function (or disable cloning altogether) for this component.

fn on_add() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_add ComponentHook for this Component if one is defined.

fn on_insert() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_insert ComponentHook for this Component if one is defined.

fn on_replace() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_replace ComponentHook for this Component if one is defined.

fn on_remove() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_remove ComponentHook for this Component if one is defined.

fn on_despawn() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_despawn ComponentHook for this Component if one is defined.

fn map_entities<E>(_this: &mut Self, _mapper: &mut E)

where E: EntityMapper,

Maps the entities on this component using the given EntityMapper. This is used to remap entities in contexts like scenes and entity cloning. When deriving Component, this is populated by annotating fields containing entities with #[entities]

impl Debug for SweptCcd

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

Formats the value using the given formatter.

impl Default for SweptCcd

fn default() -> Self

Returns the “default value” for a type.

impl FromReflect for SweptCcd

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for SweptCcd

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl PartialEq for SweptCcd

fn eq(&self, other: &SweptCcd) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl PartialReflect for SweptCcd

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&dyn Reflect>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value.

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

Returns a “partial equality” comparison result.

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn to_dynamic(&self) -> Box<dyn PartialReflect>

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_clone_and_take<T>(&self) -> Result<T, ReflectCloneError>

where T: 'static, Self: Sized + TypePath,

For a type implementing PartialReflect, combines reflect_clone and take in a useful fashion, automatically constructing an appropriate ReflectCloneError if the downcast fails.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

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

Debug formatter for the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for SweptCcd

fn into_any(self: Box<Self>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl Struct for SweptCcd

fn field(&self, name: &str) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field named name as a &dyn PartialReflect.

fn field_mut(&mut self, name: &str) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

fn field_at(&self, index: usize) -> Option<&dyn PartialReflect>

Returns a reference to the value of the field with index index as a &dyn PartialReflect.

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn PartialReflect>

Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn to_dynamic_struct(&self) -> DynamicStruct

Creates a new DynamicStruct from this struct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl TypePath for SweptCcd

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for SweptCcd

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for SweptCcd

impl StructuralPartialEq for SweptCcd