Struct CCDSolver

pub struct CCDSolver { /* private fields */ }

Solver responsible for performing motion-clamping on fast-moving bodies.

Implementations

impl CCDSolver

pub fn new() -> Self

Initializes a new CCD solver

pub fn with_query_dispatcher<D>(d: D) -> Self

where D: 'static + QueryDispatcher,

Initializes a CCD solver with a custom QueryDispatcher used for computing time-of-impacts.

Use this constructor in order to use a custom QueryDispatcher that is aware of your own user-defined shapes.

pub fn clamp_motions( &self, dt: f32, bodies: &mut RigidBodySet, impacts: &PredictedImpacts, )

Apply motion-clamping to the bodies affected by the given impacts.

The impacts should be the result of a previous call to self.predict_next_impacts.

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, islands: &IslandManager, bodies: &RigidBodySet, colliders: &ColliderSet, narrow_phase: &NarrowPhase, ) -> Option<f32>

Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider.

pub fn predict_impacts_at_next_positions( &mut self, dt: f32, islands: &IslandManager, bodies: &RigidBodySet, colliders: &ColliderSet, narrow_phase: &NarrowPhase, events: &dyn EventHandler, ) -> PredictedImpacts

Outputs the set of bodies as well as their first time-of-impact event.

Trait Implementations

impl Clone for CCDSolver

fn clone(&self) -> CCDSolver

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Default for CCDSolver

fn default() -> Self

Returns the “default value” for a type.