Struct CCDSolver 

pub struct CCDSolver { /* private fields */ }

Continuous Collision Detection solver preventing fast objects from tunneling: after the solver, bodies that moved more than half their thinnest extent sweep their colliders and next_position is clamped to the earliest impact — velocities untouched, no re-solve; the residual approach resolves next step via speculative contacts.

Fast dynamic bodies automatically sweep against fixed colliders; ccd_enabled upgrades to a bullet that also sweeps kinematic/dynamic bodies (never other bullets). Mesh-like colliders are never swept as the moving shape (targets are fine), compounds sweep per convex child, and IntegrationParameters::max_ccd_substeps = 0 disables CCD entirely.

Implementations

impl CCDSolver

pub fn new() -> Self

Initializes a new CCD solver

pub fn update_ccd_active_flags( &self, islands: &IslandManager, bodies: &mut RigidBodySet, dt: f32, include_forces: bool, ) -> bool

Updates the set of bodies that needs CCD to be resolved.

Returns true if any rigid-body must have CCD resolved.

pub fn find_first_impact( &mut self, dt: f32, params: &IntegrationParameters, islands: &IslandManager, bodies: &RigidBodySet, colliders: &ColliderSet, broad_phase: &mut BroadPhaseBvh, narrow_phase: &NarrowPhase, hooks: &dyn PhysicsHooks, ) -> Option<f32>

Find the first time a CCD-active body has a non-sensor collider hitting another non-sensor collider, for the multi-substep splitter.

Returns the impact time in [0, dt) if any.

pub fn solve_continuous( &mut self, params: &IntegrationParameters, islands: &IslandManager, bodies: &mut RigidBodySet, colliders: &ColliderSet, broad_phase: &mut BroadPhaseBvh, narrow_phase: &NarrowPhase, hooks: &dyn PhysicsHooks, events: &dyn EventHandler, scene_changed: bool, )

Runs the continuous-collision pass on all fast bodies and clamps their next_position to their earliest time of impact: non-bullets sweep fixed colliders first, then bullets sweep every (possibly already clamped) body; velocities are never modified. Sensor crossings the narrow phase would miss entirely emit paired Started/Stopped intersection events.

Trait Implementations

impl Clone for CCDSolver

fn clone(&self) -> CCDSolver

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Default for CCDSolver

fn default() -> CCDSolver

Returns the “default value” for a type.