Struct PhysicsPipeline

pub struct PhysicsPipeline {
    pub counters: Counters,
    /* private fields */
}

The physics pipeline, responsible for stepping the whole physics simulation.

This structure only contains temporary data buffers. It can be dropped and replaced by a fresh copy at any time. For performance reasons it is recommended to reuse the same physics pipeline instance to benefit from the cached data.

Rapier relies on a time-stepping scheme. Its force computations uses two solvers:

• A velocity based solver based on PGS which computes forces for contact and joint constraints.
• A position based solver based on non-linear PGS which performs constraint stabilization (i.e. correction of errors like penetrations).

Fields

counters: Counters

Counters used for benchmarking only.

Implementations

impl PhysicsPipeline

pub fn new() -> PhysicsPipeline

Initializes a new physics pipeline.

pub fn step( &mut self, gravity: &Vector<f32>, integration_parameters: &IntegrationParameters, islands: &mut IslandManager, broad_phase: &mut dyn BroadPhase, narrow_phase: &mut NarrowPhase, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, impulse_joints: &mut ImpulseJointSet, multibody_joints: &mut MultibodyJointSet, ccd_solver: &mut CCDSolver, query_pipeline: Option<&mut QueryPipeline>, hooks: &dyn PhysicsHooks, events: &dyn EventHandler, )

Executes one timestep of the physics simulation.

Trait Implementations

impl Default for PhysicsPipeline

fn default() -> Self

Returns the “default value” for a type.