Struct PhysicsIslands

pub struct PhysicsIslands {
    pub split_candidate: Option<IslandId>,
    pub split_candidate_sleep_timer: f32,
    /* private fields */
}

A resource for the PhysicsIslands in the simulation.

Fields

split_candidate: Option<IslandId>

The current island candidate for splitting.

This is chosen based on which island with one or more constraints removed has the largest sleep timer.

split_candidate_sleep_timer: f32

The largest SleepTimer of the split candidate.

Implementations

impl PhysicsIslands

pub fn create_island_with<F>(&mut self, init: F) -> IslandId

where F: FnOnce(&mut PhysicsIsland),

Creates a new PhysicsIsland, calling the given init function before pushing the island to the list.

pub fn remove_island(&mut self, island_id: IslandId) -> PhysicsIsland

Removes a PhysicsIsland with the given ID. The island is assumed to be empty,

Panics

Panics if island_id is out of bounds.

pub fn next_id(&self) -> IslandId

Returns the next available island ID.

pub fn get(&self, island_id: IslandId) -> Option<&PhysicsIsland>

Returns a reference to the PhysicsIsland with the given ID.

pub fn get_mut(&mut self, island_id: IslandId) -> Option<&mut PhysicsIsland>

Returns a mutable reference to the PhysicsIsland with the given ID.

pub fn iter(&self) -> impl Iterator<Item = &PhysicsIsland>

Returns an iterator over all PhysicsIslands.

pub fn iter_mut(&mut self) -> impl Iterator<Item = &mut PhysicsIsland>

Returns a mutable iterator over all PhysicsIslands.

pub fn len(&self) -> usize

Returns the number of PhysicsIslands.

pub fn is_empty(&self) -> bool

Returns true if there are no PhysicsIslands.

pub fn add_contact( &mut self, contact_id: ContactId, body_islands: &mut Query<'_, '_, &mut BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, contact_graph: &mut ContactGraph, joint_graph: &mut JointGraph, ) -> Option<&PhysicsIsland>

Adds a contact to the island manager. Returns a reference to the island that the contact was added to.

This will merge the islands of the bodies involved in the contact, and link the contact to the resulting island.

Called when a touching contact is created between two bodies.

pub fn remove_contact( &mut self, contact_id: ContactId, body_islands: &mut Query<'_, '_, &mut BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, contact_graph: &mut ContactGraphInternal, joint_graph: &JointGraph, ) -> &PhysicsIsland

Removes a contact from the island manager. Returns a reference to the island that the contact was removed from.

This will unlink the contact from the island and update the island’s contact list. The PhysicsIsland::constraints_removed counter is incremented.

Called when a contact is destroyed or no longer touching.

pub fn add_joint( &mut self, joint_id: JointId, body_islands: &mut Query<'_, '_, &mut BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, contact_graph: &mut ContactGraph, joint_graph: &mut JointGraph, ) -> Option<&PhysicsIsland>

Adds a joint to the island manager. Returns a reference to the island that the joint was added to.

This will merge the islands of the bodies connected by the joint, and link the joint to the resulting island.

Called when a joint is created between two bodies.

pub fn remove_joint( &mut self, joint_id: JointId, body_islands: &mut Query<'_, '_, &mut BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, contact_graph: &ContactGraph, joint_graph: &mut JointGraph, ) -> &PhysicsIsland

Removes a joint from the island manager. Returns a reference to the island that the joint was removed from.

This will unlink the joint from the island and update the island’s joint list. The PhysicsIsland::constraints_removed counter is incremented.

The joint should be removed from the JointGraph in concert with calling this method.

Called when a joint is destroyed or no longer connected to the bodies.

pub fn merge_islands( &mut self, body1: Entity, body2: Entity, body_islands: &mut Query<'_, '_, &mut BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, contact_graph: &mut ContactGraph, joint_graph: &mut JointGraph, ) -> IslandId

Merges the PhysicsIslands associated with the given bodies. Returns the ID of the resulting island.

If an awake island is merged with a sleeping island, the resulting island will remain sleeping. It is up to the caller to wake up the resulting island if needed.

The bodies and contacts of the smaller island are transferred to the larger island, and the smaller island is removed.

pub fn split_island( &mut self, island_id: IslandId, body_islands: &mut Query<'_, '_, &mut BodyIslandNode, Or<(With<Disabled>, Without<Disabled>)>>, body_colliders: &Query<'_, '_, &RigidBodyColliders>, contact_graph: &mut ContactGraph, joint_graph: &mut JointGraph, )

Splits the PhysicsIsland associated with the given ID.

Unlike merging, splitting can be deferred and done in parallel with other work.

Trait Implementations

impl Clone for PhysicsIslands

fn clone(&self) -> PhysicsIslands

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PhysicsIslands

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

Formats the value using the given formatter.

impl Default for PhysicsIslands

fn default() -> PhysicsIslands

Returns the “default value” for a type.

impl Resource for PhysicsIslands

where Self: Send + Sync + 'static,