Struct RapierContext

pub struct RapierContext<'a> {
    pub simulation: &'a RapierContextSimulation,
    pub colliders: &'a RapierContextColliders,
    pub joints: &'a RapierContextJoints,
    pub query_pipeline: &'a RapierQueryPipeline,
    pub rigidbody_set: &'a RapierRigidBodySet,
}

A helper struct to avoid passing too many parameters to most rapier functions. This helps with reducing boilerplate, at the (small) price of maybe getting too much information from the ECS.

Note: This is not a component, refer to ReadRapierContext, WriteRapierContext, or RapierContextSimulation

Fields

simulation: &'a RapierContextSimulation

The Rapier context, containing all the state of the physics engine.

colliders: &'a RapierContextColliders

The set of colliders part of the simulation.

joints: &'a RapierContextJoints

The sets of joints part of the simulation.

query_pipeline: &'a RapierQueryPipeline

The query pipeline, which performs scene queries (ray-casting, point projection, etc.)

rigidbody_set: &'a RapierRigidBodySet

The set of rigid-bodies part of the simulation.

Implementations

impl RapierContext<'_>

RapierContextSimulation functions for immutable accesses

pub fn contact_pair( &self, collider1: Entity, collider2: Entity, ) -> Option<ContactPairView<'_>>

Shortcut to RapierContextSimulation::contact_pair.

pub fn contact_pairs_with( &self, collider: Entity, ) -> impl Iterator<Item = ContactPairView<'_>>

Shortcut to RapierContextSimulation::contact_pairs_with.

pub fn intersection_pair( &self, collider1: Entity, collider2: Entity, ) -> Option<bool>

Shortcut to RapierContextSimulation::intersection_pair.

pub fn intersection_pairs_with( &self, collider: Entity, ) -> impl Iterator<Item = (Entity, Entity, bool)> + '_

Shortcut to RapierContextSimulation::intersection_pairs_with.

impl RapierContext<'_>

pub fn cast_ray( &self, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, f32)>

Shortcut to RapierQueryPipeline::cast_ray.

pub fn cast_ray_and_get_normal( &self, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, RayIntersection)>

Shortcut to RapierQueryPipeline::cast_ray_and_get_normal.

pub fn intersections_with_point( &self, point: Vect, filter: QueryFilter<'_>, callback: impl FnMut(Entity) -> bool, )

Shortcut to RapierQueryPipeline::intersections_with_point.

pub fn intersections_with_ray( &self, ray_origin: Vect, ray_dir: Vect, max_toi: f32, solid: bool, filter: QueryFilter<'_>, callback: impl FnMut(Entity, RayIntersection) -> bool, )

Shortcut to RapierQueryPipeline::intersections_with_ray.

pub fn intersections_with_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &Collider, filter: QueryFilter<'_>, callback: impl FnMut(Entity) -> bool, )

Shortcut to RapierQueryPipeline::intersections_with_shape.

pub fn colliders_with_aabb_intersecting_aabb( &self, aabb: Aabb2d, callback: impl FnMut(Entity) -> bool, )

Shortcut to RapierQueryPipeline::colliders_with_aabb_intersecting_aabb.

pub fn cast_shape( &self, shape_pos: Vect, shape_rot: Rot, shape_vel: Vect, shape: &Collider, options: ShapeCastOptions, filter: QueryFilter<'_>, ) -> Option<(Entity, ShapeCastHit)>

Shortcut to RapierQueryPipeline::cast_shape.

pub fn project_point( &self, point: Vect, solid: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, PointProjection)>

Shortcut to RapierQueryPipeline::project_point.

pub fn with_query_filter_elts<T>( &self, filter: QueryFilter<'_>, f: impl FnOnce(RapierQueryFilter<'_>) -> T, ) -> T

Shortcut to RapierQueryPipeline::with_query_filter_elts.

impl RapierContext<'_>

pub fn entity2body(&self) -> &HashMap<Entity, RigidBodyHandle>

Shortcut to RapierRigidBodySet::entity2body.

pub fn rigid_body_entity(&self, handle: RigidBodyHandle) -> Option<Entity>

Shortcut to RapierRigidBodySet::rigid_body_entity.

pub fn impulse_revolute_joint_angle(&self, entity: Entity) -> Option<f32>

Shortcut to RapierRigidBodySet::impulse_revolute_joint_angle.

Trait Implementations

impl<'a> QueryData for RapierContext<'a>

SAFETY: we assert fields are readonly below

unsafe fn fetch<'__w>( _fetch: &mut <Self as WorldQuery>::Fetch<'__w>, _entity: Entity, _table_row: TableRow, ) -> Self::Item<'__w>

SAFETY: we call fetch for each member that implements Fetch.

const IS_READ_ONLY: bool = true

True if this query is read-only and may not perform mutable access.

type ReadOnly = RapierContext<'a>

The read-only variant of this QueryData, which satisfies the ReadOnlyQueryData trait.

type Item<'__w> = RapierContextItem<'__w, 'a>

The item returned by this WorldQuery This will be the data retrieved by the query, and is visible to the end user when calling e.g. Query<Self>::get.

fn shrink<'__wlong: '__wshort, '__wshort>( item: Self::Item<'__wlong>, ) -> Self::Item<'__wshort>

This function manually implements subtyping for the query items.

impl<'a> WorldQuery for RapierContext<'a>

unsafe fn set_archetype<'__w>( _fetch: &mut <Self as WorldQuery>::Fetch<'__w>, _state: &Self::State, _archetype: &'__w Archetype, _table: &'__w Table, )

SAFETY: we call set_archetype for each member that implements Fetch

unsafe fn set_table<'__w>( _fetch: &mut <Self as WorldQuery>::Fetch<'__w>, _state: &Self::State, _table: &'__w Table, )

SAFETY: we call set_table for each member that implements Fetch

const IS_DENSE: bool = true

Returns true if (and only if) every table of every archetype matched by this fetch contains all of the matched components.

type Fetch<'__w> = RapierContextFetch<'__w, 'a>

Per archetype/table state retrieved by this WorldQuery to compute Self::Item for each entity.

type State = RapierContextState<'a>

State used to construct a Self::Fetch. This will be cached inside QueryState, so it is best to move as much data / computation here as possible to reduce the cost of constructing Self::Fetch.

fn shrink_fetch<'__wlong: '__wshort, '__wshort>( fetch: <RapierContext<'a> as WorldQuery>::Fetch<'__wlong>, ) -> <RapierContext<'a> as WorldQuery>::Fetch<'__wshort>

This function manually implements subtyping for the query fetches.

unsafe fn init_fetch<'__w>( _world: UnsafeWorldCell<'__w>, state: &Self::State, _last_run: Tick, _this_run: Tick, ) -> <Self as WorldQuery>::Fetch<'__w>

Creates a new instance of Self::Fetch, by combining data from the World with the cached Self::State. Readonly accesses resources registered in WorldQuery::update_component_access.

fn update_component_access( state: &Self::State, _access: &mut FilteredAccess<ComponentId>, )

Adds any component accesses used by this WorldQuery to access.

fn init_state(world: &mut World) -> RapierContextState<'a>

Creates and initializes a State for this WorldQuery type.

fn get_state(components: &Components) -> Option<RapierContextState<'a>>

Attempts to initialize a State for this WorldQuery type using read-only access to Components.

fn matches_component_set( state: &Self::State, _set_contains_id: &impl Fn(ComponentId) -> bool, ) -> bool

Returns true if this query matches a set of components. Otherwise, returns false.

fn set_access(_state: &mut Self::State, _access: &FilteredAccess<ComponentId>)

Sets available accesses for implementors with dynamic access such as FilteredEntityRef or FilteredEntityMut.

impl<'a> ReadOnlyQueryData for RapierContext<'a>

SAFETY: we assert fields are readonly below