Struct RapierContextMut 

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

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, simulation_mode: SimulationMode, timestep_mode: TimestepMode, events: Option<(&MessageWriter<'_, CollisionEvent>, &MessageWriter<'_, 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: &(impl AsShape + ?Sized), shape_translation: Vect, shape_rotation: Rot, shape_mass: f32, options: &MoveShapeOptions, filter: QueryFilter<'_>, events: impl FnMut(CharacterCollision), ) -> MoveShapeOutput

Shortcut to RapierContextSimulation::move_shape.

The scene queries are filtered with filter, like the other scene queries of this context.

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 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 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 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 RapierContextMut<'_>

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

Shortcut to RapierQueryPipeline::new_scoped.

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.

impl RapierContextMut<'_>

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.

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

Shortcut to RapierRigidBodySet::soft_body_mut.

pub fn wake_up_soft_body(&mut self, entity: Entity, strong: bool) -> bool

Shortcut to RapierRigidBodySet::wake_up_soft_body.

pub fn tear_soft_body( &mut self, commands: &mut Commands<'_, '_>, entity: Entity, edges: &[u32], cells: &[u32], ) -> Option<SoftBodyTearResult>

Shortcut to RapierContextSimulation::tear_soft_body.

pub fn cut_soft_body( &mut self, commands: &mut Commands<'_, '_>, entity: Entity, blade: &[Vect; 3], ) -> Option<SoftBodyTearResult>

Shortcut to RapierContextSimulation::cut_soft_body.

impl RapierContextMut<'_>

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.

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

Shortcut to RapierContextJoints::multibody_mut.

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

Shortcut to RapierContextJoints::multibody_generalized_velocity_mut.

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

Shortcut to RapierContextJoints::multibody_joint_velocity_mut.

pub fn multibody_apply_displacements( &mut self, entity: Entity, displacements: &[f32], ) -> bool

Shortcut to RapierContextJoints::multibody_apply_displacements.

pub fn multibody_forward_kinematics( &mut self, entity: Entity, read_root_pose_from_rigid_body: bool, ) -> bool

Shortcut to RapierContextJoints::multibody_forward_kinematics.