Struct NarrowPhase

pub struct NarrowPhase<'w, 's, C: AnyCollider> {
    pub collider_query: Query<'w, 's, ColliderQuery<C>, Without<ColliderDisabled>>,
    pub colliding_entities_query: Query<'w, 's, &'static mut CollidingEntities>,
    pub body_query: Query<'w, 's, (RigidBodyQueryReadOnly, Option<&'static CollisionMargin>, Option<&'static SpeculativeMargin>), Without<RigidBodyDisabled>>,
    pub contact_graph: ResMut<'w, ContactGraph>,
    pub contact_constraints: ResMut<'w, ContactConstraints>,
    pub config: Res<'w, NarrowPhaseConfig>,
    /* private fields */
}

A system parameter for managing the narrow phase.

Responsibilities:

• Updates contacts for each contact pair in the ContactGraph.
• Sends collision events when colliders start or stop touching.
• Removes contact pairs from the ContactGraph when AABBs stop overlapping.
• Generates contact constraints for each contact pair that is touching or expected to start touching.

Fields

collider_query: Query<'w, 's, ColliderQuery<C>, Without<ColliderDisabled>>

colliding_entities_query: Query<'w, 's, &'static mut CollidingEntities>

body_query: Query<'w, 's, (RigidBodyQueryReadOnly, Option<&'static CollisionMargin>, Option<&'static SpeculativeMargin>), Without<RigidBodyDisabled>>

contact_graph: ResMut<'w, ContactGraph>

contact_constraints: ResMut<'w, ContactConstraints>

config: Res<'w, NarrowPhaseConfig>

Implementations

impl<C: AnyCollider> NarrowPhase<'_, '_, C>

pub fn update<H: CollisionHooks>( &mut self, collision_started_event_writer: &mut EventWriter<'_, CollisionStarted>, collision_ended_event_writer: &mut EventWriter<'_, CollisionEnded>, delta_secs: Scalar, hooks: &SystemParamItem<'_, '_, H>, context: &SystemParamItem<'_, '_, C::Context>, commands: &mut ParallelCommands<'_, '_>, )

where for<'w, 's> SystemParamItem<'w, 's, H>: CollisionHooks,

Updates the narrow phase.

• Updates contacts for each contact pair in the ContactGraph.
• Sends collision events when colliders start or stop touching.
• Removes pairs from the ContactGraph when AABBs stop overlapping.

Trait Implementations

impl<C: AnyCollider> SystemParam for NarrowPhase<'_, '_, C>

type State = FetchState<C>

Used to store data which persists across invocations of a system.

type Item<'w, 's> = NarrowPhase<'w, 's, C>

The item type returned when constructing this system param. The value of this associated type should be Self, instantiated with new lifetimes.

fn init_state(world: &mut World, system_meta: &mut SystemMeta) -> Self::State

Registers any World access used by this SystemParam and creates a new instance of this param’s State.

unsafe fn new_archetype( state: &mut Self::State, archetype: &Archetype, system_meta: &mut SystemMeta, )

For the specified Archetype, registers the components accessed by this SystemParam (if applicable).a

fn apply(state: &mut Self::State, system_meta: &SystemMeta, world: &mut World)

Applies any deferred mutations stored in this SystemParam’s state. This is used to apply Commands during ApplyDeferred.

fn queue( state: &mut Self::State, system_meta: &SystemMeta, world: DeferredWorld<'_>, )

Queues any deferred mutations to be applied at the next ApplyDeferred.

unsafe fn validate_param<'w, 's>( state: &'s Self::State, _system_meta: &SystemMeta, _world: UnsafeWorldCell<'w>, ) -> Result<(), SystemParamValidationError>

Validates that the param can be acquired by the get_param.

unsafe fn get_param<'w, 's>( state: &'s mut Self::State, system_meta: &SystemMeta, world: UnsafeWorldCell<'w>, change_tick: Tick, ) -> Self::Item<'w, 's>

Creates a parameter to be passed into a SystemParamFunction.

impl<'w, 's, C: AnyCollider> ReadOnlySystemParam for NarrowPhase<'w, 's, C>

where Query<'w, 's, ColliderQuery<C>, Without<ColliderDisabled>>: ReadOnlySystemParam, Query<'w, 's, &'static mut CollidingEntities>: ReadOnlySystemParam, Query<'w, 's, (RigidBodyQueryReadOnly, Option<&'static CollisionMargin>, Option<&'static SpeculativeMargin>), Without<RigidBodyDisabled>>: ReadOnlySystemParam, ResMut<'w, ContactGraph>: ReadOnlySystemParam, ResMut<'w, ContactStatusBits>: ReadOnlySystemParam, ResMut<'w, ContactConstraints>: ReadOnlySystemParam, ResMut<'w, NarrowPhaseThreadLocals>: ReadOnlySystemParam, Res<'w, NarrowPhaseConfig>: ReadOnlySystemParam, Res<'w, DefaultFriction>: ReadOnlySystemParam, Res<'w, DefaultRestitution>: ReadOnlySystemParam, Res<'w, ContactSoftnessCoefficients>: ReadOnlySystemParam, Res<'w, PhysicsLengthUnit>: ReadOnlySystemParam, Local<'s, Scalar>: ReadOnlySystemParam,