Struct ColliderSet 

pub struct ColliderSet { /* private fields */ }

The collection that stores all colliders (collision shapes) in your physics world.

Similar to RigidBodySet, this is the “database” where all your collision shapes live. Each collider can be attached to a rigid body or exist independently.

Example

let mut colliders = ColliderSet::new();

// Add a standalone collider (no parent body)
let handle = colliders.insert(ColliderBuilder::ball(0.5));

// Or attach it to a body
let handle = colliders.insert_with_parent(
    ColliderBuilder::cuboid(1.0, 1.0, 1.0),
    body_handle,
    &mut bodies
);

Implementations

impl ColliderSet

pub fn new() -> Self

Creates a new empty collection of colliders.

pub fn with_capacity(capacity: usize) -> Self

Creates a new collection with pre-allocated space for the given number of colliders.

Use this if you know approximately how many colliders you’ll need.

pub fn take_modified(&mut self) -> ModifiedColliders

Fetch the set of colliders modified since the last call to take_modified

Provides a value that can be passed to the modified_colliders argument of BroadPhaseBvh::update.

Should not be used if this ColliderSet will be used with a PhysicsPipeline, which handles broadphase updates automatically.

pub fn take_removed(&mut self) -> Vec<ColliderHandle>

Fetch the set of colliders removed since the last call to take_removed

Provides a value that can be passed to the removed_colliders argument of BroadPhaseBvh::update.

Should not be used if this ColliderSet will be used with a PhysicsPipeline, which handles broadphase updates automatically.

pub fn invalid_handle() -> ColliderHandle

Returns a handle that’s guaranteed to be invalid.

Useful as a sentinel/placeholder value.

pub fn iter(&self) -> impl ExactSizeIterator<Item = (ColliderHandle, &Collider)>

Iterates over all colliders in this collection.

Yields (handle, &Collider) pairs for each collider (including disabled ones).

pub fn iter_enabled(&self) -> impl Iterator<Item = (ColliderHandle, &Collider)>

Iterates over only the enabled colliders.

Disabled colliders are excluded from physics simulation and queries.

pub fn iter_mut( &mut self, ) -> impl Iterator<Item = (ColliderHandle, &mut Collider)>

Iterates over all colliders with mutable access.

pub fn iter_enabled_mut( &mut self, ) -> impl Iterator<Item = (ColliderHandle, &mut Collider)>

Iterates over only the enabled colliders with mutable access.

pub fn len(&self) -> usize

Returns how many colliders are currently in this collection.

pub fn is_empty(&self) -> bool

Returns true if there are no colliders in this collection.

pub fn contains(&self, handle: ColliderHandle) -> bool

Checks if the given handle points to a valid collider that still exists.

pub fn insert(&mut self, coll: impl Into<Collider>) -> ColliderHandle

Adds a standalone collider (not attached to any body) and returns its handle.

Most colliders should be attached to rigid bodies using insert_with_parent() instead. Standalone colliders are useful for sensors or static collision geometry that doesn’t need a body.

pub fn insert_with_parent( &mut self, coll: impl Into<Collider>, parent_handle: RigidBodyHandle, bodies: &mut RigidBodySet, ) -> ColliderHandle

Adds a collider attached to a rigid body and returns its handle.

This is the most common way to add colliders. The collider’s position is relative to its parent body, so when the body moves, the collider moves with it.

Example

// Create a ball collider attached to a dynamic body
let collider_handle = colliders.insert_with_parent(
    ColliderBuilder::ball(0.5),
    body_handle,
    &mut bodies
);

pub fn set_parent( &mut self, handle: ColliderHandle, new_parent_handle: Option<RigidBodyHandle>, bodies: &mut RigidBodySet, )

Changes which rigid body a collider is attached to, or detaches it completely.

Use this to move a collider from one body to another, or to make it standalone.

Parameters

• new_parent_handle - Some(handle) to attach to a body, None to make standalone

Example

// Detach collider from its current body
colliders.set_parent(collider_handle, None, &mut bodies);

// Attach it to a different body
colliders.set_parent(collider_handle, Some(other_body), &mut bodies);

pub fn remove( &mut self, handle: ColliderHandle, islands: &mut IslandManager, bodies: &mut RigidBodySet, wake_up: bool, ) -> Option<Collider>

Removes a collider from the world.

The collider is detached from its parent body (if any) and removed from all collision detection structures. Returns the removed collider if it existed.

Parameters

• wake_up - If true, wakes up the parent body (useful when collider removal changes the body’s mass or collision behavior significantly)

Example

if let Some(collider) = colliders.remove(
    handle,
    &mut islands,
    &mut bodies,
    true  // Wake up the parent body
) {
    println!("Removed collider with shape: {:?}", collider.shared_shape());
}

pub fn get_unknown_gen(&self, i: u32) -> Option<(&Collider, ColliderHandle)>

Gets a collider by its index without knowing the generation number.

⚠️ Advanced/unsafe usage - prefer get() instead! See RigidBodySet::get_unknown_gen for details.

pub fn get_unknown_gen_mut( &mut self, i: u32, ) -> Option<(&mut Collider, ColliderHandle)>

Gets a mutable reference to a collider by its index without knowing the generation.

⚠️ Advanced/unsafe usage - prefer get_mut() instead! suffer form the ABA problem.

pub fn get(&self, handle: ColliderHandle) -> Option<&Collider>

Gets a read-only reference to the collider with the given handle.

Returns None if the handle is invalid or the collider was removed.

pub fn get_mut(&mut self, handle: ColliderHandle) -> Option<&mut Collider>

Gets a mutable reference to the collider with the given handle.

Returns None if the handle is invalid or the collider was removed. Use this to modify collider properties like friction, restitution, sensor status, etc.

pub fn get_pair_mut( &mut self, handle1: ColliderHandle, handle2: ColliderHandle, ) -> (Option<&mut Collider>, Option<&mut Collider>)

Gets mutable references to two different colliders at once.

Useful when you need to modify two colliders simultaneously. If both handles are the same, only the first value will be Some.

Trait Implementations

impl Clone for ColliderSet

fn clone(&self) -> ColliderSet

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ColliderSet

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

Formats the value using the given formatter.

impl Default for ColliderSet

fn default() -> ColliderSet

Returns the “default value” for a type.

impl Index<ColliderHandle> for ColliderSet

type Output = Collider

The returned type after indexing.

fn index(&self, index: ColliderHandle) -> &Collider

Performs the indexing (container[index]) operation.

impl Index<Index> for ColliderSet

type Output = Collider

The returned type after indexing.

fn index(&self, index: Index) -> &Collider

Performs the indexing (container[index]) operation.

impl IndexMut<ColliderHandle> for ColliderSet

Available on non-crate feature dev-remove-slow-accessors only.

fn index_mut(&mut self, handle: ColliderHandle) -> &mut Collider

Performs the mutable indexing (container[index]) operation.