Struct PhysicsIsland

pub struct PhysicsIsland { /* private fields */ }

A simulation island that contains bodies, contacts, and joints. Used for sleeping and waking.

Islands are retained across time steps. Each dynamic body starts with its own island, and when a constraint between two dynamic bodies is created, the islands are merged with union find.

Splitting is deferred and done using depth-first search (DFS). Only one island is split per time step, choosing the sleepiest island with one or more constraints removed as the candidate.

Bodies, contacts, and joints are linked to islands using linked lists for efficient addition, removal, and merging. Each island stores the head and tail of each list, while each BodyIslandNode, ContactEdge, and JointGraphEdge stores an IslandNode that links it to the next and previous item in the list.

Implementations

impl PhysicsIsland

pub const fn new(id: IslandId) -> Self

Creates a new PhysicsIsland with the given ID.

pub const fn id(&self) -> IslandId

Returns the island ID.

pub const fn body_count(&self) -> u32

Returns the number of bodies in the island.

pub const fn contact_count(&self) -> u32

Returns the number of contacts in the island.

pub const fn joint_count(&self) -> u32

Returns the number of joints in the island.

pub const fn is_sleeping(&self) -> bool

Returns true if the island is sleeping.

pub const fn constraints_removed(&self) -> u32

Returns the number of constraints that have been removed from the island,

pub fn validate( &self, body_islands: &Query<'_, '_, &BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, contact_graph: &ContactGraphInternal, joint_graph: &JointGraph, )

Validates the island.

pub fn validate_bodies( &self, body_islands: &Query<'_, '_, &BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, )

Validates the body linked list.

pub fn validate_contacts(&self, contact_graph: &ContactGraphInternal)

Validates the contact linked list.

pub fn validate_joints(&self, joint_graph: &JointGraph)

Validates the joint linked list.

Trait Implementations

impl Clone for PhysicsIsland

fn clone(&self) -> PhysicsIsland

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PhysicsIsland

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

Formats the value using the given formatter.

impl PartialEq for PhysicsIsland

fn eq(&self, other: &PhysicsIsland) -> 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 StructuralPartialEq for PhysicsIsland