Struct World 

pub struct World<S: PhysicsSpace> {
    pub narrowphase: Narrowphase<S>,
    pub field_narrowphase: FieldNarrowphase<S>,
    /* private fields */
}

Fields

narrowphase: Narrowphase<S>

field_narrowphase: FieldNarrowphase<S>

Implementations

impl<S: PhysicsSpace> World<S>

pub fn new(space: S) -> Self

pub fn counters(&self) -> StepCounters

From the last step or broadphase_into.

pub fn bodies(&self) -> &BodyArena<S>

pub fn space(&self) -> &S

pub fn gravity(&self) -> Option<S::Vector>

pub fn set_gravity( &mut self, gravity: Option<S::Vector>, ) -> Result<(), EditError>

pub fn solver_iterations(&self) -> usize

pub fn set_solver_iterations(&mut self, iterations: usize)

pub fn solver_tolerance(&self) -> f32

pub fn set_solver_tolerance(&mut self, tolerance: f32) -> Result<(), EditError>

pub fn time(&self) -> f32

pub fn body(&self, id: BodyId) -> Option<&RigidBody<S>>

pub fn manifolds( &self, ) -> impl ExactSizeIterator<Item = (&PairKey, &Manifold<S>)>

pub fn manifold(&self, key: PairKey) -> Option<&Manifold<S>>

pub fn solve_report(&self) -> SolveReport

pub fn push_body(&mut self, body: BodyDef<S>) -> BodyId

pub fn insert_field( &mut self, anchor: BodyId, field: Box<dyn DistanceField>, ) -> Result<FieldId, EditError>

anchor must be static; it leaves every collision group so the broadphase never pairs it, and it owns the field’s contacts.

pub fn bind_field( &mut self, body: BodyId, field: FieldId, ) -> Result<(), EditError>

Every step queries the field for body; a contact lands in the manifold keyed by the body and the field’s anchor.

pub fn field_bindings(&self) -> &[(BodyId, FieldId)]

pub fn geometry(&self) -> &GeometryStore

pub fn reclaim_geometry(&mut self) -> Option<Collider>

Pops the newest of the last two released shapes so its buffer can be reused.

pub fn collider(&self, body: &RigidBody<S>) -> Option<&Collider>

pub fn despawn_body(&mut self, id: BodyId) -> Result<(), EditError>

Also removes every manifold the body takes part in.

pub fn set_pose( &mut self, id: BodyId, position: S::Point, orientation: S::Iso, ) -> Result<(), EditError>

Drops the body’s contacts.

pub fn set_velocity( &mut self, id: BodyId, velocity: S::Vector, angular_velocity: S::AngVel, ) -> Result<(), EditError>

pub fn set_restitution( &mut self, id: BodyId, restitution: f32, ) -> Result<(), EditError>

pub fn set_collision_filter( &mut self, id: BodyId, group: u32, mask: u32, ) -> Result<(), EditError>

pub fn set_mass_properties( &mut self, id: BodyId, mass: f32, inertia: S::Inertia, ) -> Result<(), EditError>

Drops the body’s contacts.

pub fn set_collider( &mut self, id: BodyId, collider: Collider, inertia: S::Inertia, ) -> Result<(), EditError>

Drops the body’s contacts.

pub fn apply_impulse( &mut self, id: BodyId, impulse: S::Vector, ) -> Result<(), EditError>

where S::Vector: Add<Output = S::Vector> + Mul<f32, Output = S::Vector>,

pub fn apply_impulse_at_point( &mut self, id: BodyId, impulse: S::Vector, point: S::Point, ) -> Result<(), EditError>

where S::Vector: Add<Output = S::Vector> + Mul<f32, Output = S::Vector>,

pub fn sleep_body(&mut self, id: BodyId) -> Result<(), EditError>

where S::Vector: Default,

pub fn wake_body(&mut self, id: BodyId) -> Result<(), EditError>

pub fn drain_dirty(&mut self) -> DirtyDrain<'_, S>

Yields each body spawned, integrated, edited, or restored since the last drain, skipping despawned ones.

pub fn snapshot(&self) -> WorldState<S>

pub fn check_restore(&self, state: &WorldState<S>) -> Result<(), EditError>

where S::Vector: VectorOps, S::AngVel: PartialEq, S::Point: Copy + Sub<Output = S::Vector>,

pub fn restore(&mut self, state: &WorldState<S>) -> Result<(), EditError>

where S::Vector: VectorOps, S::AngVel: PartialEq, S::Point: Copy + Sub<Output = S::Vector>,

Refuses, unchanged, whatever check_restore refuses.

pub fn step(&mut self, dt: f32) -> Result<(), EditError>

where S::Vector: VectorOps, S::Point: Copy + Sub<Output = S::Vector>,

dt is in seconds.

pub fn broadphase_into(&mut self, pairs: &mut Vec<PairKey>)

Replaces pairs with the sorted candidates: bounding-ball overlaps under a certified bound, every masked non-static pair otherwise.

pub fn hash_contacts(&self, hash: &mut StateHash)

Hashes contact keys, point counts, and normal impulses in key order.

pub fn state_hash( &self, sample_body: impl Fn(&RigidBody<S>, &mut Vec<u32>), ) -> u64

Hashes bodies by handle, then contacts; sample_body must emit fixed-width records.

pub fn islands(&self) -> Vec<Island>

Returns islands by id; stale manifold handles panic after a bare BodyArena::despawn.