Struct NarrowPhasePlugin

pub struct NarrowPhasePlugin<C: AnyCollider, H: CollisionHooks = ()> { /* private fields */ }

Manages contacts and generates contact constraints.

Overview

Before the narrow phase, the broad phase creates a contact pair in the ContactGraph resource for each pair of intersecting ColliderAabbs.

The narrow phase then determines which contact pairs found in the ContactGraph are touching, and computes updated contact points and normals in a parallel loop.

Afterwards, the narrow phase removes contact pairs whose AABBs no longer overlap, and writes collision events for colliders that started or stopped touching. This is done in a fast serial loop to preserve determinism.

Finally, a ContactConstraint is generated for each contact pair that is touching or expected to touch during the time step. These constraints are added to the ContactConstraints resource, and are later used by the SolverPlugin to solve contacts.

Collider Types

The plugin takes a collider type. This should be Collider for the vast majority of applications, but for custom collision backends you may use any collider that implements the AnyCollider trait.

Implementations

impl<C: AnyCollider, H: CollisionHooks> NarrowPhasePlugin<C, H>

pub fn new(schedule: impl ScheduleLabel, generate_constraints: bool) -> Self

Creates a NarrowPhasePlugin with the schedule used for running its systems and whether it should generate ContactConstraints for the ContactConstraints resource.

Contact constraints are used by the SolverPlugin for solving contacts.

The default schedule is PhysicsSchedule.

Trait Implementations

impl<C: AnyCollider, H: CollisionHooks> Default for NarrowPhasePlugin<C, H>

fn default() -> Self

Returns the “default value” for a type.

impl<C: AnyCollider, H: CollisionHooks + 'static> Plugin for NarrowPhasePlugin<C, H>

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

fn build(&self, app: &mut App)

Configures the App to which this plugin is added.

fn finish(&self, app: &mut App)

Finish adding this plugin to the App, once all plugins registered are ready. This can be useful for plugins that depends on another plugin asynchronous setup, like the renderer.

fn ready(&self, _app: &App) -> bool

Has the plugin finished its setup? This can be useful for plugins that need something asynchronous to happen before they can finish their setup, like the initialization of a renderer. Once the plugin is ready, finish should be called.

fn cleanup(&self, _app: &mut App)

Runs after all plugins are built and finished, but before the app schedule is executed. This can be useful if you have some resource that other plugins need during their build step, but after build you want to remove it and send it to another thread.

fn name(&self) -> &str

Configures a name for the Plugin which is primarily used for checking plugin uniqueness and debugging.

fn is_unique(&self) -> bool

If the plugin can be meaningfully instantiated several times in an App, override this method to return false.