avian3d/dynamics/solver/
mod.rs

1//! The physics solver responsible for simulating rigid body dynamics, contacts, and joints.
2//!
3//! See [`SolverPlugins`] for a plugin group that contains Avian's default solver plugins.
4
5mod plugin;
6pub use plugin::*;
7
8pub mod constraint_graph;
9pub mod contact;
10pub mod islands;
11pub mod schedule;
12pub mod softness_parameters;
13pub mod solver_body;
14#[cfg(feature = "xpbd_joints")]
15pub mod xpbd;
16
17mod diagnostics;
18pub use diagnostics::SolverDiagnostics;
19
20use crate::{
21    dynamics::{joints::joint_graph::JointGraphPlugin, solver::solver_body::SolverBodyPlugin},
22    prelude::*,
23};
24use bevy::{app::PluginGroupBuilder, prelude::*};
25
26/// A plugin group that contains Avian's default solver plugins.
27///
28/// # Plugins
29///
30/// By default, the following plugins will be added:
31///
32/// | Plugin                            | Description                                                                                                                                                |
33/// | --------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
34/// | [`SolverSchedulePlugin`]          | Sets up the solver and substepping loop by initializing the necessary schedules, sets and resources.                                                       |
35/// | [`SolverBodyPlugin`]              | Manages [solver bodies](dynamics::solver::solver_body::SolverBody).                                                                                        |
36/// | [`IntegratorPlugin`]              | Handles motion caused by velocity, and applies external forces and gravity.                                                                                |
37/// | [`SolverPlugin`]                  | Manages and solves contacts, [joints](dynamics::joints), and other constraints.                                                                            |
38/// | [`CcdPlugin`]                     | Performs [Continuous Collision Detection (CCD)](dynamics::ccd) for fast dynamic bodies.                                                                    |
39/// | [`IslandPlugin`]                  | Manages [simulation islands](dynamics::solver::islands) for sleeping and waking.                                                                           |
40/// | [`IslandSleepingPlugin`]          | Manages sleeping and waking of [simulation islands](dynamics::solver::islands).                                                                            |
41/// | [`JointGraphPlugin`]              | Manages the [`JointGraph`] for each joint type.                                                          |
42/// | [`XpbdSolverPlugin`]              | Solves joints using Extended Position-Based Dynamics (XPBD). Requires the `xpbd_joints` feature.                                                           |
43///
44/// Refer to the documentation of the plugins for more information about their responsibilities and implementations.
45#[derive(Debug, Default)]
46pub struct SolverPlugins {
47    length_unit: f32,
48}
49
50impl SolverPlugins {
51    /// Creates a [`SolverPlugins`] plugin group with the given approximate dimensions of most objects.
52    ///
53    /// The length unit will be used for initializing the [`PhysicsLengthUnit`]
54    /// resource unless it already exists.
55    pub fn new_with_length_unit(unit: f32) -> Self {
56        Self { length_unit: unit }
57    }
58}
59
60impl PluginGroup for SolverPlugins {
61    fn build(self) -> PluginGroupBuilder {
62        let builder = PluginGroupBuilder::start::<Self>()
63            .add(SolverBodyPlugin)
64            .add(SolverSchedulePlugin)
65            .add(IntegratorPlugin::default())
66            .add(SolverPlugin::new_with_length_unit(self.length_unit))
67            .add(CcdPlugin)
68            .add(IslandPlugin)
69            .add(IslandSleepingPlugin)
70            .add(JointGraphPlugin::<FixedJoint>::default())
71            .add(JointGraphPlugin::<RevoluteJoint>::default())
72            .add(JointGraphPlugin::<PrismaticJoint>::default())
73            .add(JointGraphPlugin::<DistanceJoint>::default());
74
75        #[cfg(feature = "3d")]
76        let builder = builder.add(JointGraphPlugin::<SphericalJoint>::default());
77
78        #[cfg(feature = "xpbd_joints")]
79        let builder = builder.add(XpbdSolverPlugin);
80
81        builder
82    }
83}
avian3d/dynamics/solver/mod.rs

avian3d/dynamics/solver/
mod.rs
