Struct RayCastVehicleController 

pub struct RayCastVehicleController {
    pub wheels: Vec<VehicleWheel>,
    pub index_up_axis: usize,
    pub index_forward_axis: usize,
    pub filter_flags: QueryFilterFlags,
    pub filter_groups: Option<CollisionGroups>,
    pub exclude_colliders: EntityHashSet,
    pub exclude_rigid_bodies: EntityHashSet,
    pub filter_predicate: Option<ControllerFilterPredicate>,
    pub current_vehicle_speed: Real,
    pub raw: Option<DynamicRayCastVehicleController>,
}

A vehicle controller simulating wheels with ray-casts, attached to the chassis rigid-body.

Before each simulation step, the plugin casts one ray per wheel along its suspension direction, then applies suspension, engine, braking and friction impulses to the chassis, which must be a dynamic rigid-body on the same entity. Colliders attached to the chassis rigid-body are always ignored by the ray-casts. The results are written back into each wheel’s VehicleWheel::state and into Self::current_vehicle_speed.

The impulses are computed once per plugin update using the last simulation timestep, so this is best used with a fixed timestep.

Fields

wheels: Vec<VehicleWheel>

The wheels of this vehicle.

Wheels can be added, removed or modified at any time.

index_up_axis: usize

The chassis’ local up axis (0 = x, 1 = y, 2 = z).

index_forward_axis: usize

The chassis’ local forward axis (0 = x, 1 = y, 2 = z).

This is only used to determine the sign of Self::current_vehicle_speed.

filter_flags: QueryFilterFlags

Flags for excluding some categories of colliders from the wheels’ ray-casts.

filter_groups: Option<CollisionGroups>

Groups for excluding some colliders from the wheels’ ray-casts.

exclude_colliders: EntityHashSet

Colliders (identified by their entity) ignored by the wheels’ ray-casts.

exclude_rigid_bodies: EntityHashSet

Rigid-bodies (identified by their entity) whose colliders are all ignored by the wheels’ ray-casts.

filter_predicate: Option<ControllerFilterPredicate>

If set, any collider for which this predicate returns false is ignored by the wheels’ ray-casts. The colliders with a ControllerIgnored component (or attached to a rigid-body with one) are always ignored.

current_vehicle_speed: Real

The current forward speed of the vehicle, written back by the plugin.

It is negative if the vehicle moves backward along its forward axis.

raw: Option<DynamicRayCastVehicleController>

The underlying Rapier controller, created and synchronized automatically by the plugin.

Its wheels are overwritten from Self::wheels before each update.

Implementations

impl RayCastVehicleController

pub fn new(wheels: Vec<VehicleWheel>) -> Self

Creates a vehicle controller with the given wheels.

pub fn add_wheel(&mut self, wheel: VehicleWheel) -> &mut Self

Adds a wheel to this vehicle.

pub fn any_wheel_in_contact(&self) -> bool

Is any wheel of this vehicle in contact with the ground?

Trait Implementations

impl Clone for RayCastVehicleController

fn clone(&self) -> RayCastVehicleController

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Component for RayCastVehicleController

where Self: Send + Sync + 'static,

const STORAGE_TYPE: StorageType = ::bevy::ecs::component::StorageType::Table

A constant indicating the storage type used for this component.

type Mutability = Mutable

A marker type to assist Bevy with determining if this component is mutable, or immutable. Mutable components will have Component<Mutability = Mutable>, while immutable components will instead have Component<Mutability = Immutable>.

fn register_required_components( _requiree: ComponentId, required_components: &mut RequiredComponentsRegistrator<'_, '_>, )

Registers required components.

fn clone_behavior() -> ComponentCloneBehavior

Called when registering this component, allowing to override clone function (or disable cloning altogether) for this component.

fn relationship_accessor() -> Option<ComponentRelationshipAccessor<Self>>

Returns ComponentRelationshipAccessor required for working with relationships in dynamic contexts.

fn on_add() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_add ComponentHook for this Component if one is defined.

fn on_insert() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_insert ComponentHook for this Component if one is defined.

fn on_discard() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_discard ComponentHook for this Component if one is defined.

fn on_remove() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_remove ComponentHook for this Component if one is defined.

fn on_despawn() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_despawn ComponentHook for this Component if one is defined.

fn map_entities<E>(_this: &mut Self, _mapper: &mut E)

where E: EntityMapper,

Maps the entities on this component using the given EntityMapper. This is used to remap entities in contexts like scenes and entity cloning. When deriving Component, this is populated by annotating fields containing entities with #[entities]

const HAS_SUMMARY_TICK: bool = false

Set this constant to true if the component should track a summary tick.

impl Debug for RayCastVehicleController

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

Formats the value using the given formatter.

impl Default for RayCastVehicleController

fn default() -> Self

Returns the “default value” for a type.

impl FromReflect for RayCastVehicleController

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

Constructs a concrete instance of Self from a reflected value.

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

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

impl GetTypeRegistration for RayCastVehicleController

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 PartialReflect for RayCastVehicleController

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

Returns the TypeInfo of the type represented by this value.

fn try_apply(&mut self, value: &dyn PartialReflect) -> 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 try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&dyn Reflect>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value.

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

Returns a “partial equality” comparison result.

fn reflect_partial_cmp(&self, value: &dyn PartialReflect) -> Option<Ordering>

Returns a “partial comparison” result.

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

Debug formatter for the value.

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

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

Applies a reflected value to this value.

fn to_dynamic(&self) -> Result<Box<dyn PartialReflect>, ReflectCloneError>

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_clone_and_take<T>(&self) -> Result<T, ReflectCloneError>

where T: 'static, Self: Sized + TypePath,

For a type implementing PartialReflect, combines reflect_clone and take in a useful fashion, automatically constructing an appropriate ReflectCloneError if the downcast fails.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for RayCastVehicleController

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, fully-reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

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

Casts this type to a mutable, fully-reflected value.

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

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

impl Struct for RayCastVehicleController

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

Gets a reference to the value of the field named name as a &dyn PartialReflect.

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

Gets a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

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

Gets a reference to the value of the field with index index as a &dyn PartialReflect.

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

Gets a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Gets the name of the field with index index.

fn index_of_name(&self, name: &str) -> Option<usize>

Gets the index of the field with the given name.

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 to_dynamic_struct(&self) -> Result<DynamicStruct, ReflectCloneError>

Creates a new DynamicStruct from this struct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl TypePath for RayCastVehicleController

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 RayCastVehicleController

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.