Struct RapierContext 

pub struct RapierContext<'a> {
    pub simulation: &'a RapierContextSimulation,
    pub colliders: &'a RapierContextColliders,
    pub joints: &'a RapierContextJoints,
    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.

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 with_query_pipeline<'a, T>( &'a self, filter: QueryFilter<'a>, scoped_fn: impl FnOnce(RapierQueryPipeline<'_>) -> T, ) -> T

Shortcut to RapierQueryPipeline::new_scoped.

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

Shortcut to RapierQueryPipeline::intersect_point.

Stops the query if callback returns false.

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

Shortcut to RapierQueryPipeline::intersect_ray.

Stops the query if callback returns false.

pub fn intersect_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &(impl AsShape + ?Sized), filter: QueryFilter<'_>, callback: impl FnMut(Entity, &RapierCollider) -> bool, )

Shortcut to RapierQueryPipeline::intersect_shape.

pub fn intersect_aabb_conservative( &self, aabb: Aabb3d, filter: QueryFilter<'_>, callback: impl FnMut(Entity, &RapierCollider) -> bool, )

Shortcut to RapierQueryPipeline::intersect_aabb_conservative.

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

Shortcut to RapierQueryPipeline::cast_shape.

pub fn project_point( &self, point: Vect, max_dist: f32, solid: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, PointProjection)>

Shortcut to RapierQueryPipeline::project_point.

impl RapierContext<'_>

pub fn project_point_and_get_feature( &self, point: Vect, max_dist: f32, filter: QueryFilter<'_>, ) -> Option<(Entity, PointProjection, FeatureId)>

Shortcut to RapierQueryPipeline::project_point_and_get_feature.

pub fn cast_shape_nonlinear( &self, shape_motion: &NonlinearMotion, shape: &(impl AsShape + ?Sized), start_time: f32, end_time: f32, stop_at_penetration: bool, filter: QueryFilter<'_>, ) -> Option<(Entity, ShapeCastHit)>

Shortcut to RapierQueryPipeline::cast_shape_nonlinear.

pub fn distance_to_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &(impl AsShape + ?Sized), filter: QueryFilter<'_>, ) -> Option<(Entity, f32)>

Shortcut to RapierQueryPipeline::distance_to_shape.

pub fn closest_points_to_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &(impl AsShape + ?Sized), max_dist: f32, filter: QueryFilter<'_>, ) -> Option<(Entity, ShapeClosestPoints)>

Shortcut to RapierQueryPipeline::closest_points_to_shape.

pub fn contact_with_shape( &self, shape_pos: Vect, shape_rot: Rot, shape: &(impl AsShape + ?Sized), prediction: f32, filter: QueryFilter<'_>, ) -> Option<(Entity, ShapeContact)>

Shortcut to RapierQueryPipeline::contact_with_shape.

pub fn bvh(&self) -> &Bvh

Shortcut to RapierQueryPipeline::bvh.

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.

impl RapierContext<'_>

pub fn entity2soft_body(&self) -> &HashMap<Entity, SoftBodyHandle>

Shortcut to RapierRigidBodySet::entity2soft_body.

pub fn soft_body_entity(&self, handle: SoftBodyHandle) -> Option<Entity>

Shortcut to RapierRigidBodySet::soft_body_entity.

pub fn soft_body(&self, entity: Entity) -> Option<&RapierSoftBody>

Shortcut to RapierRigidBodySet::soft_body.

pub fn soft_body_particle_positions( &self, entity: Entity, ) -> Option<impl ExactSizeIterator<Item = Vect> + '_>

Shortcut to RapierRigidBodySet::soft_body_particle_positions.

pub fn soft_body_particle_velocities( &self, entity: Entity, ) -> Option<impl ExactSizeIterator<Item = Vect> + '_>

Shortcut to RapierRigidBodySet::soft_body_particle_velocities.

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

Shortcut to RapierRigidBodySet::soft_body_volume.

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

Shortcut to RapierRigidBodySet::soft_body_mass.

pub fn soft_body_center_of_mass(&self, entity: Entity) -> Option<Vect>

Shortcut to RapierRigidBodySet::soft_body_center_of_mass.

pub fn is_soft_body_sleeping(&self, entity: Entity) -> Option<bool>

Shortcut to RapierRigidBodySet::is_soft_body_sleeping.

pub fn soft_body_whole_proxy(&self, entity: Entity) -> Option<RigidBodyHandle>

Shortcut to RapierRigidBodySet::soft_body_whole_proxy.

pub fn soft_body_cluster_index( &self, entity: Entity, ) -> Option<(SoftBodyHandle, u32)>

Shortcut to RapierRigidBodySet::soft_body_cluster_index.

impl RapierContext<'_>

pub fn impulse_joint_impulses( &self, entity: Entity, ) -> Option<ImpulseJointImpulses>

Shortcut to RapierContextJoints::impulse_joint_impulses.

pub fn impulse_joints_between( &self, body1: Entity, body2: Entity, ) -> impl Iterator<Item = Entity> + '_

Shortcut to RapierContextJoints::impulse_joints_between.

pub fn attached_impulse_joints( &self, body: Entity, ) -> impl Iterator<Item = Entity> + '_

Shortcut to RapierContextJoints::attached_impulse_joints.

pub fn attached_enabled_impulse_joints( &self, body: Entity, ) -> impl Iterator<Item = Entity> + '_

Shortcut to RapierContextJoints::attached_enabled_impulse_joints.

pub fn multibody(&self, entity: Entity) -> Option<(&Multibody, usize)>

Shortcut to RapierContextJoints::multibody.

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

Shortcut to RapierContextJoints::multibody_root.

pub fn multibody_links( &self, entity: Entity, ) -> impl Iterator<Item = Entity> + '_

Shortcut to RapierContextJoints::multibody_links.

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

Shortcut to RapierContextJoints::multibody_parent_link.

pub fn multibody_joint_between( &self, body1: Entity, body2: Entity, ) -> Option<Entity>

Shortcut to RapierContextJoints::multibody_joint_between.

pub fn attached_multibody_joints( &self, body: Entity, ) -> impl Iterator<Item = Entity> + '_

Shortcut to RapierContextJoints::attached_multibody_joints.

pub fn multibody_link_dofs(&self, entity: Entity) -> Option<Range<usize>>

Shortcut to RapierContextJoints::multibody_link_dofs.

pub fn multibody_generalized_velocity(&self, entity: Entity) -> Option<&[f32]>

Shortcut to RapierContextJoints::multibody_generalized_velocity.

pub fn multibody_joint_state( &self, entity: Entity, ) -> Option<MultibodyJointState>

Shortcut to RapierContextJoints::multibody_joint_state.

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

Shortcut to RapierContextJoints::multibody_body_jacobian.

pub fn multibody_inverse_kinematics( &self, link: Entity, target: Transform, options: &InverseKinematicsOption, joint_can_move: impl Fn(Entity) -> bool, displacements: &mut Vec<f32>, ) -> bool

Shortcut to RapierContextJoints::multibody_inverse_kinematics.

Trait Implementations

impl<'a> ArchetypeQueryData for RapierContext<'a>

where for<'__a> &'a RapierContextSimulation: ArchetypeQueryData, for<'__a> &'a RapierContextColliders: ArchetypeQueryData, for<'__a> &'a RapierContextJoints: ArchetypeQueryData, for<'__a> &'a RapierRigidBodySet: ArchetypeQueryData,

impl<'a> IterQueryData for RapierContext<'a>

where for<'__a> &'a RapierContextSimulation: IterQueryData, for<'__a> &'a RapierContextColliders: IterQueryData, for<'__a> &'a RapierContextJoints: IterQueryData, for<'__a> &'a RapierRigidBodySet: IterQueryData,

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

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

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.

const IS_ARCHETYPAL: bool

Returns true if (and only if) this query data relies strictly on archetypes to limit which entities are accessed by the Query.

type ReadOnly = RapierContext<'a>

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

type Item<'__w, '__s> = RapierContextItem<'__w, '__s, '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, '__s>( item: Self::Item<'__wlong, '__s>, ) -> Self::Item<'__wshort, '__s>

This function manually implements subtyping for the query items.

fn provide_extra_access( state: &mut Self::State, access: &mut Access, available_access: &Access, )

Offers additional access above what we requested in update_component_access. Implementations may add additional access that is a subset of available_access and does not conflict with anything in access, and must update access to include that access.

fn iter_access(_state: &Self::State) -> impl Iterator<Item = EcsAccessType<'_>>

Returns an iterator over the access needed by QueryData::fetch. Access conflicts are usually checked in WorldQuery::update_component_access, but in certain cases this method can be useful to implement a way of checking for access conflicts in a non-allocating way.

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

impl<'a> ReleaseStateQueryData for RapierContext<'a>

where for<'__a> &'a RapierContextSimulation: ReleaseStateQueryData, for<'__a> &'a RapierContextColliders: ReleaseStateQueryData, for<'__a> &'a RapierContextJoints: ReleaseStateQueryData, for<'__a> &'a RapierRigidBodySet: ReleaseStateQueryData,

fn release_state<'__w>(_item: Self::Item<'__w, '_>) -> Self::Item<'__w, 'static>

Releases the borrow from the query state by converting an item to have a 'static state lifetime.

impl<'a> SingleEntityQueryData for RapierContext<'a>

where for<'__a> &'a RapierContextSimulation: SingleEntityQueryData, for<'__a> &'a RapierContextColliders: SingleEntityQueryData, for<'__a> &'a RapierContextJoints: SingleEntityQueryData, for<'__a> &'a RapierRigidBodySet: SingleEntityQueryData,

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

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

SAFETY: we call set_archetype for each member that implements Fetch

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

SAFETY: we call set_table for each member that implements Fetch

const IS_DENSE: bool

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, '__s>( _world: UnsafeWorldCell<'__w>, state: &'__s 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)

Adds any component accesses to the current entity used by this WorldQuery to access.

fn init_nested_access( state: &Self::State, _system_name: Option<&str>, _component_access_set: &mut FilteredAccessSet, _world: UnsafeWorldCell<'_>, )

Adds any component accesses to other entities used by this WorldQuery.

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 update_archetypes(_state: &mut Self::State, _world: UnsafeWorldCell<'_>)

Called when the query state is updating its archetype cache. This can be used by nested queries to update their internal archetype caches.