Struct RigidBodyCcd 

pub struct RigidBodyCcd {
    pub ccd_thickness: f32,
    pub ccd_active: bool,
    pub ccd_enabled: bool,
    pub soft_ccd_prediction: f32,
    pub allow_fast_rotation: bool,
}

Information used for Continuous-Collision-Detection.

Fields

ccd_thickness: f32

The distance used by the CCD solver to decide if a movement would result in a tunnelling problem.

ccd_active: bool

Is CCD active for this rigid-body?

Set automatically for any dynamic body moving fast enough to tunnel (regardless of self.ccd_enabled): it then sweeps fixed colliders, or all bodies if ccd_enabled is set too.

ccd_enabled: bool

Is full (“bullet”) CCD enabled for this rigid-body?

Fast dynamic bodies always sweep fixed colliders; true upgrades this body to also sweep kinematic and dynamic bodies.

soft_ccd_prediction: f32

The soft-CCD prediction distance for this rigid-body.

allow_fast_rotation: bool

Allow this body to exceed the angular speed cap.

By default angular velocity is clamped each substep to ~45°/step to keep CCD reliable; set true for bodies that must spin fast (e.g. wheels).

Implementations

impl RigidBodyCcd

pub const FAST_BODY_SAFETY_FACTOR: f32 = 0.5

The fast-body safety factor: a body is fast when it can move more than half its thinnest extent in one step.

pub fn max_point_velocity( &self, vels: &RigidBodyVelocity<f32>, max_extent: f32, ) -> f32

The maximum velocity any point of any collider attached to this rigid-body moving with the given velocity can have.

max_extent is the body’s farthest collider point distance from its center of mass (RigidBodyMassProps::max_extent).

pub fn is_moving_fast( &self, dt: f32, vels: &RigidBodyVelocity<f32>, forces: Option<&RigidBodyForces>, max_extent: f32, ) -> bool

Is this rigid-body moving fast enough so that it may cause a tunneling problem?

The fast-body criterion: fast when the farthest point of its colliders can move more than half the body’s thinnest extent (ccd_thickness) within one timestep.

pub fn is_moving_fast_with_next_position( &self, dt: f32, vels: &RigidBodyVelocity<f32>, pos: &RigidBodyPosition, local_com: Vector, max_extent: f32, ) -> bool

The fast-body criterion evaluated on the actual solved motion of this step.

pos must hold the solved next_position; the test uses the larger of the actual pose delta and the velocity-based estimate.

Trait Implementations

impl Clone for RigidBodyCcd

fn clone(&self) -> RigidBodyCcd

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for RigidBodyCcd

impl Debug for RigidBodyCcd

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for RigidBodyCcd

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for RigidBodyCcd

fn eq(&self, other: &RigidBodyCcd) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for RigidBodyCcd