Struct avian3d::collision::narrow_phase::NarrowPhase

pub struct NarrowPhase<'w, 's, C: AnyCollider> {
    pub collisions: ResMut<'w, Collisions>,
    pub config: Res<'w, NarrowPhaseConfig>,
    /* private fields */
}

A system parameter for managing the narrow phase.

The narrow phase computes contacts for each intersection pair in BroadCollisionPairs, adds them to the Collisions resource, and generates ContactConstraints for the contacts.

Fields

collisions: ResMut<'w, Collisions>

Contacts found by the narrow phase.

config: Res<'w, NarrowPhaseConfig>

Configuration options for the narrow phase.

Implementations

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

pub fn handle_entity_pair( &self, entity1: Entity, entity2: Entity, delta_secs: Scalar ) -> Option<Contacts>

Returns the Contacts between entity1 and entity2 if they are intersecting or expected to start intersecting within the next frame. This includes speculative collision.

pub fn compute_contact_pair( &self, collider1: &ColliderQueryItem<'_, C>, collider2: &ColliderQueryItem<'_, C>, max_distance: Scalar ) -> Option<Contacts>

Computes contacts between collider1 and collider2. Returns None if no contacts are found.

The given max_distance determines the maximum distance for a contact to be detected. A value greater than zero means that contacts are generated based on the closest points even if the shapes are separated.

pub fn generate_constraints( &self, contacts: &Contacts, constraints: &mut Vec<ContactConstraint>, body1: &RigidBodyQueryReadOnlyItem<'_>, body2: &RigidBodyQueryReadOnlyItem<'_>, collider1: &ColliderQueryItem<'_, C>, collider2: &ColliderQueryItem<'_, C>, collision_margin: impl Into<CollisionMargin> + Copy, contact_softness: ContactSoftnessCoefficients, delta_secs: Scalar )

Generates ContactConstraints for the given bodies and their corresponding colliders based on the given contacts. The constraints are added to the constraints vector.

The collision_margin can be used to add artificial thickness to the colliders, which can improve performance and stability in some cases. See CollisionMargin for more details.

The contact_softness is used to tune the damping and stiffness of the contact constraints.

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 apply_deferred.

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

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

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 ParallelCommands<'w, 's>: ReadOnlySystemParam, Query<'w, 's, ColliderQuery<C>>: ReadOnlySystemParam, Query<'w, 's, (RigidBodyQueryReadOnly, Option<&'static CollisionMargin>, Option<&'static SpeculativeMargin>)>: ReadOnlySystemParam, ResMut<'w, Collisions>: ReadOnlySystemParam, Res<'w, NarrowPhaseConfig>: ReadOnlySystemParam, Res<'w, PhysicsLengthUnit>: ReadOnlySystemParam, Local<'s, Scalar>: ReadOnlySystemParam,