Struct avian3d::dynamics::ccd::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 avian3d::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(Vec3::X * 100.0),
        Collider::sphere(0.1),
        TransformBundle::from_transform(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(Vec3::X * 100.0),
        Collider::sphere(0.1),
        TransformBundle::from_transform(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(Vec3::Z * 100.0),
        Collider::cuboid(0.2, 10.0, 10.0),
    ));

    // Spawn another thin, long object, this time not rotating.
    // The second ball should now hit this.
    commands.spawn((
        RigidBody::Static,
        Collider::cuboid(0.2, 10.0, 10.0),
        TransformBundle::from_transform(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 copy 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.

fn register_component_hooks(_hooks: &mut ComponentHooks)

Called when registering this component, allowing mutable access to its ComponentHooks.

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

where Self: Any + Send + Sync, SweepMode: FromReflect + TypePath + RegisterForReflection, bool: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Constructs a concrete instance of Self from a reflected value.

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

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

impl GetTypeRegistration for SweptCcd

where Self: Any + Send + Sync, SweepMode: FromReflect + TypePath + RegisterForReflection, bool: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

This method tests for self and other values to be equal, and is used by ==.

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

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

impl Reflect for SweptCcd

where Self: Any + Send + Sync, SweepMode: FromReflect + TypePath + RegisterForReflection, bool: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value.

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 reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a reflected value.

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

Casts this type to a mutable reflected value.

fn clone_value(&self) -> Box<dyn Reflect>

Clones the value as a Reflect trait object.

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

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

fn try_apply(&mut self, value: &dyn Reflect) -> 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 reflect_partial_eq(&self, value: &dyn Reflect) -> Option<bool>

Returns a “partial equality” comparison result.

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

Applies a reflected value to this value.

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 serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Struct for SweptCcd

where Self: Any + Send + Sync, SweepMode: FromReflect + TypePath + RegisterForReflection, bool: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

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

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

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

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

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

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

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

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

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 clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.

impl TypePath for SweptCcd

where Self: Any + Send + Sync,

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

where Self: Any + Send + Sync, SweepMode: FromReflect + TypePath + RegisterForReflection, bool: FromReflect + TypePath + RegisterForReflection, Scalar: FromReflect + TypePath + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Copy for SweptCcd

impl StructuralPartialEq for SweptCcd