Struct RapierContextMut

pub struct RapierContextMut<'a> {
    pub simulation: Mut<'a, RapierContextSimulation>,
    pub colliders: Mut<'a, RapierContextColliders>,
    pub joints: Mut<'a, RapierContextJoints>,
    pub query_pipeline: Mut<'a, RapierQueryPipeline>,
    pub rigidbody_set: Mut<'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.

If you need more granular control over mutability of each component, use a regular Query

Fields

simulation: Mut<'a, RapierContextSimulation>

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

colliders: Mut<'a, RapierContextColliders>

The set of colliders part of the simulation.

joints: Mut<'a, RapierContextJoints>

The sets of joints part of the simulation.

query_pipeline: Mut<'a, RapierQueryPipeline>

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

rigidbody_set: Mut<'a, RapierRigidBodySet>

The set of rigid-bodies part of the simulation.

Implementations

impl RapierContextMut<'_>

RapierContextSimulation functions for mutable accesses

pub fn step_simulation( &mut self, gravity: Vect, timestep_mode: TimestepMode, events: Option<(&EventWriter<'_, CollisionEvent>, &EventWriter<'_, ContactForceEvent>)>, hooks: &dyn PhysicsHooks, time: &Time, sim_to_render_time: &mut SimulationToRenderTime, interpolation_query: Option<&mut Query<'_, '_, (&RapierRigidBodyHandle, &mut TransformInterpolation)>>, )

Shortcut to RapierContextSimulation::step_simulation.

pub fn move_shape( &mut self, movement: Vect, shape: &Collider, shape_translation: Vect, shape_rotation: Rot, shape_mass: f32, options: &MoveShapeOptions, filter: QueryFilter<'_>, events: impl FnMut(CharacterCollision), ) -> MoveShapeOutput

Shortcut to RapierContextSimulation::move_shape.

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 RapierContextMut<'_>

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 RapierContextMut<'_>

pub fn propagate_modified_body_positions_to_colliders(&mut self)

Shortcut to RapierRigidBodySet::propagate_modified_body_positions_to_colliders.

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.