Trait PhysicsSpace 

pub trait PhysicsSpace:
    Space
    + IsometryGroup
    + Send
    + Sync {
    type AngVel: Bivector + Send + Sync;
    type Inertia: Copy + Send + Sync;

    // Required methods
    fn broadphase_bound(&self) -> BroadphaseBound;
    fn supports_collider(&self, kind: ColliderKind) -> bool;
    fn valid_vector(&self, vector: Self::Vector) -> bool;
    fn valid_inertia(&self, inertia: Self::Inertia) -> bool;
    fn valid_orientation(&self, orientation: Self::Iso) -> bool;
    fn valid_angular_velocity(&self, angular_velocity: Self::AngVel) -> bool;
    fn integrate_orientation(
        &self,
        iso: Self::Iso,
        omega: Self::AngVel,
        dt: f32,
    ) -> Self::Iso;
    fn apply_inv_inertia(
        &self,
        inertia: Self::Inertia,
        torque: Self::AngVel,
    ) -> Self::AngVel;
    fn wedge(&self, a: Self::Vector, b: Self::Vector) -> Self::AngVel;
    fn velocity_at_point(
        &self,
        body: &RigidBody<Self>,
        p: Self::Point,
    ) -> Self::Vector
       where Self: Sized;
    fn effective_mass_inv(
        &self,
        a: &RigidBody<Self>,
        b: &RigidBody<Self>,
        contact_point: Self::Point,
        direction: Self::Vector,
    ) -> f32
       where Self: Sized;
    fn apply_contact_impulse(
        &self,
        a: &mut RigidBody<Self>,
        b: &mut RigidBody<Self>,
        contact_point: Self::Point,
        direction: Self::Vector,
        magnitude: f32,
    )
       where Self: Sized;

    // Provided method
    fn valid_initial_state(
        &self,
        position: Self::Point,
        velocity: Self::Vector,
        inertia: Self::Inertia,
    ) -> bool { ... }
}

Required Associated Types

type AngVel: Bivector + Send + Sync

type Inertia: Copy + Send + Sync

Required Methods

fn broadphase_bound(&self) -> BroadphaseBound

fn supports_collider(&self, kind: ColliderKind) -> bool

fn valid_vector(&self, vector: Self::Vector) -> bool

fn valid_inertia(&self, inertia: Self::Inertia) -> bool

fn valid_orientation(&self, orientation: Self::Iso) -> bool

fn valid_angular_velocity(&self, angular_velocity: Self::AngVel) -> bool

fn integrate_orientation( &self, iso: Self::Iso, omega: Self::AngVel, dt: f32, ) -> Self::Iso

fn apply_inv_inertia( &self, inertia: Self::Inertia, torque: Self::AngVel, ) -> Self::AngVel

fn wedge(&self, a: Self::Vector, b: Self::Vector) -> Self::AngVel

fn velocity_at_point( &self, body: &RigidBody<Self>, p: Self::Point, ) -> Self::Vector

where Self: Sized,

fn effective_mass_inv( &self, a: &RigidBody<Self>, b: &RigidBody<Self>, contact_point: Self::Point, direction: Self::Vector, ) -> f32

where Self: Sized,

Sleeping and static bodies contribute zero.

fn apply_contact_impulse( &self, a: &mut RigidBody<Self>, b: &mut RigidBody<Self>, contact_point: Self::Point, direction: Self::Vector, magnitude: f32, )

where Self: Sized,

Subtracts from A, adds to B.

Provided Methods

fn valid_initial_state( &self, position: Self::Point, velocity: Self::Vector, inertia: Self::Inertia, ) -> bool

Implementations on Foreign Types

impl PhysicsSpace for EuclideanR3

type AngVel = Bivector3

type Inertia = f32

fn broadphase_bound(&self) -> BroadphaseBound

fn supports_collider(&self, kind: ColliderKind) -> bool

fn valid_vector(&self, vector: Vec3) -> bool

fn valid_orientation(&self, orientation: Iso3) -> bool

fn valid_angular_velocity(&self, angular_velocity: Bivector3) -> bool

fn valid_inertia(&self, inertia: f32) -> bool

fn integrate_orientation(&self, iso: Iso3, omega: Bivector3, dt: f32) -> Iso3

fn apply_inv_inertia(&self, inertia: f32, torque: Bivector3) -> Bivector3

fn wedge(&self, a: Vec3, b: Vec3) -> Bivector3

fn velocity_at_point(&self, body: &RigidBody<EuclideanR3>, p: Vec3) -> Vec3

fn effective_mass_inv( &self, a: &RigidBody<EuclideanR3>, b: &RigidBody<EuclideanR3>, contact_point: Vec3, direction: Vec3, ) -> f32

fn apply_contact_impulse( &self, a: &mut RigidBody<EuclideanR3>, b: &mut RigidBody<EuclideanR3>, contact_point: Vec3, direction: Vec3, magnitude: f32, )

impl PhysicsSpace for EuclideanR2

type AngVel = Bivector2

type Inertia = f32

fn broadphase_bound(&self) -> BroadphaseBound

fn supports_collider(&self, kind: ColliderKind) -> bool

fn valid_vector(&self, vector: Vec2) -> bool

fn valid_orientation(&self, orientation: Iso2) -> bool

fn valid_angular_velocity(&self, angular_velocity: Bivector2) -> bool

fn valid_inertia(&self, inertia: f32) -> bool

fn integrate_orientation(&self, iso: Iso2, omega: Bivector2, dt: f32) -> Iso2

fn apply_inv_inertia(&self, inertia: f32, torque: Bivector2) -> Bivector2

fn wedge(&self, a: Vec2, b: Vec2) -> Bivector2

fn velocity_at_point(&self, body: &RigidBody<EuclideanR2>, p: Vec2) -> Vec2

fn effective_mass_inv( &self, a: &RigidBody<EuclideanR2>, b: &RigidBody<EuclideanR2>, contact_point: Vec2, direction: Vec2, ) -> f32

fn apply_contact_impulse( &self, a: &mut RigidBody<EuclideanR2>, b: &mut RigidBody<EuclideanR2>, contact_point: Vec2, direction: Vec2, magnitude: f32, )

impl PhysicsSpace for EuclideanR4

type AngVel = Bivector4

type Inertia = f32

fn broadphase_bound(&self) -> BroadphaseBound

fn supports_collider(&self, kind: ColliderKind) -> bool

fn valid_vector(&self, vector: Vec4) -> bool

fn valid_orientation(&self, orientation: Iso4Flat) -> bool

fn valid_angular_velocity(&self, angular_velocity: Bivector4) -> bool

fn valid_inertia(&self, inertia: f32) -> bool

fn integrate_orientation( &self, iso: Iso4Flat, omega: Bivector4, dt: f32, ) -> Iso4Flat

fn apply_inv_inertia(&self, inertia: f32, torque: Bivector4) -> Bivector4

fn wedge(&self, a: Vec4, b: Vec4) -> Bivector4

fn velocity_at_point(&self, body: &RigidBody<EuclideanR4>, p: Vec4) -> Vec4

fn effective_mass_inv( &self, a: &RigidBody<EuclideanR4>, b: &RigidBody<EuclideanR4>, contact_point: Vec4, direction: Vec4, ) -> f32

fn apply_contact_impulse( &self, a: &mut RigidBody<EuclideanR4>, b: &mut RigidBody<EuclideanR4>, contact_point: Vec4, direction: Vec4, magnitude: f32, )

Implementors