Module dynamics 

Components related to physics dynamics (rigid-bodies, velocities, etc.)

Re-exports

pub use self::soft_body::*;

Modules

soft_body

Components describing soft bodies: deformable bodies made of particles linked by elastic constraints, simulated together with the rigid-bodies.

Structs

AdditionalPgsIterations

Set the additional number of internal PGS iterations run at each substep for the simulation island containing this rigid-body.

AdditionalSolverIterations

Set the additional number of solver substeps run for the simulation island containing this rigid-body.

AllowFastRotation

Allows the RigidBody to exceed the angular speed cap.

Ccd

Enables full (“bullet”) Continuous-Collision-Detection for a RigidBody.

Damping

Damping factors to gradually slow down a RigidBody.

Dominance

The dominance groups of a RigidBody.

ExternalForce

Constant external forces applied continuously to a RigidBody.

ExternalImpulse

Instantaneous external impulse applied continuously to a RigidBody.

FixedJoint

A fixed joint, locks all relative motion between two bodies.

FixedJointBuilder

Create fixed joints using the builder pattern.

GenericJoint

The description of any joint.

GenericJointBuilder

Create generic joints using the builder pattern.

GravityScale

Gravity is multiplied by this scaling factor before it’s applied to this RigidBody.

GyroscopicForces

Enables or disables gyroscopic forces on a RigidBody.

ImpulseJoint

An impulse-based joint attached to two entities.

ImpulseJointDisabled

Marker component disabling the ImpulseJoint of its entity.

ImpulseJointImpulses

The impulses applied by an ImpulseJoint during the last simulation step.

InverseKinematicsOption

Options for the jacobian-based Inverse Kinematics solver for multibodies.

JointAxesMask

A bit mask identifying multiple degrees of freedom of a joint.

KinematicMultibodyJoint

Marker component making the MultibodyJoint of its entity kinematic.

LockedAxes

Flags affecting the behavior of the constraints solver for a given contact manifold.

MassModifiedEvent

Entity that likely had their mass properties changed this frame.

MassModifiedMessage

Entity that likely had their mass properties changed this frame.

MassProperties

Center-of-mass, mass, and angular inertia.

MultibodyJoint

An joint based on generalized coordinates, attached to two entities.

MultibodyJointArmature

The per-DoF armature (reflected rotor inertia) of a MultibodyJoint, indexed by JointAxis.

MultibodyJointCoupling

A linear coupling between a degree of freedom of this MultibodyJoint and a degree of freedom of another joint of the same multibody.

MultibodyJointCouplings

The couplings between the degrees of freedom of this MultibodyJoint and other joints of the same multibody.

MultibodyJointDamping

The per-DoF viscous damping of a MultibodyJoint, indexed by JointAxis.

MultibodyJointFriction

The per-DoF dry friction of a MultibodyJoint, indexed by JointAxis.

MultibodyJointSprings

Passive springs acting on the degrees of freedom of a MultibodyJoint, indexed by JointAxis.

MultibodyJointState

The state of a MultibodyJoint, written back after each simulation step.

MultibodySelfContactsDisabled

Marker component disabling the contacts between the links of the multibody containing the rigid-body of its entity.

PrismaticJoint

A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.

PrismaticJointBuilder

Create prismatic joints using the builder pattern.

RapierImpulseJointHandle

The handle of an impulse joint added to the physics scene.

RapierMultibodyJointHandle

The handle of a multibody joint added to the physics scene.

RapierRigidBodyHandle

The Rapier handle of a RigidBody that was inserted to the physics scene.

ReadMassProperties

Center-of-mass, mass, and angular inertia.

ReadWorldMassProperties

World-space and locked-axes-aware mass properties of a RigidBody.

RevoluteJoint

A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.

RevoluteJointBuilder

Create revolute joints using the builder pattern.

RigidBodyDisabled

Indicates whether or not the RigidBody is disabled explicitly by the user.

RopeJoint

A rope joint, limits the maximum distance between two bodies

RopeJointBuilder

Create rope joints using the builder pattern.

Sleeping

The activation status of a body.

SoftCcd

Sets the maximum prediction distance Soft Continuous Collision-Detection.

SphericalJoint

A spherical joint, locks all relative translations between two bodies.

SphericalJointBuilder

Create spherical joints using the builder pattern.

SpringCoefficients

Coefficients for a spring, typically used for configuring constraint softness for contacts and joints.

SpringJoint

A spring-damper joint, applies a force proportional to the distance between two objects.

SpringJointBuilder

A SpringJoint joint using the builder pattern.

TransformInterpolation

If the TimestepMode::Interpolated mode is set and this component is present, the associated RigidBody will have its position automatically interpolated between the last two RigidBody positions set by the physics engine.

Velocity

The velocity of a RigidBody.

Enums

AdditionalMassProperties

Mass-properties of a RigidBody, added to the contributions of its attached colliders.

CoefficientCombineRule

Rules used to combine two coefficients.

JointAxis

Identifiers of degrees of freedoms of a joint.

MotorModel

How motor stiffness/damping values are interpreted (mass-dependent vs mass-independent).

RigidBody

A RigidBody.

TypedJoint

Wrapper enum over a specific joint.

Constants

JOINT_DOFS

The number of degrees of freedom of a joint (3 in 2D, 6 in 3D).