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 sweep against fixed colliders and soft-body meshes; ccd_enabled makes a bullet that also sweeps kinematic/dynamic bodies (never other bullets); mesh-like colliders are never the moving shape; compounds sweep per convex child; max_ccd_substeps = 0 disables CCD.

Implementations

impl CCDSolver

pub fn new() -> Self

Initializes a new CCD solver

pub fn invalidate_fixed_targets_cache(&mut self)

Discards the cached fixed-target list used by the non-bullet continuous pass. This must be called any time the fixed targets change. If using the physics pipeline, it is called for you. If not, it must be called manually.

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, soft_bodies: &SoftBodySet, broad_phase: &mut BroadPhaseBvh, narrow_phase: &NarrowPhase, hooks: &dyn PhysicsHooks, events: &dyn EventHandler, )

Runs the continuous-collision pass on all fast bodies and clamps their next_position to their earliest time of impact: non-bullets sweep the automatic targets (fixed colliders and soft-body collision meshes) 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.