Struct jumpy::core::physics::rapier::MultibodyJointSet

pub struct MultibodyJointSet {
    pub(crate) multibodies: Arena<Multibody>,
    pub(crate) rb2mb: Coarena<MultibodyLinkId>,
    pub(crate) connectivity_graph: InteractionGraph<RigidBodyHandle, ()>,
    pub(crate) to_wake_up: Vec<RigidBodyHandle>,
}

A set of rigid bodies that can be handled by a physics pipeline.

Fields

multibodies: Arena<Multibody>

rb2mb: Coarena<MultibodyLinkId>

connectivity_graph: InteractionGraph<RigidBodyHandle, ()>

to_wake_up: Vec<RigidBodyHandle>

Implementations

impl MultibodyJointSet

pub fn new() -> MultibodyJointSet

Create a new empty set of multibodies.

pub fn iter( &self, ) -> impl Iterator<Item = (MultibodyJointHandle, &MultibodyLinkId, &Multibody, &MultibodyLink)>

Iterates through all the multibody joints from this set.

pub fn insert( &mut self, body1: RigidBodyHandle, body2: RigidBodyHandle, data: impl Into<GenericJoint>, wake_up: bool, ) -> Option<MultibodyJointHandle>

Inserts a new multibody_joint into this set.

pub fn remove(&mut self, handle: MultibodyJointHandle, wake_up: bool)

Removes an multibody_joint from this set.

pub fn remove_multibody_articulations( &mut self, handle: RigidBodyHandle, wake_up: bool, )

Removes all the multibody_joints from the multibody the given rigid-body is part of.

pub fn remove_joints_attached_to_rigid_body( &mut self, rb_to_remove: RigidBodyHandle, )

Removes all the multibody joints attached to a rigid-body.

pub fn rigid_body_link(&self, rb: RigidBodyHandle) -> Option<&MultibodyLinkId>

Returns the link of this multibody attached to the given rigid-body.

Returns None if rb isn’t part of any rigid-body.

pub fn get_multibody(&self, index: MultibodyIndex) -> Option<&Multibody>

Gets a reference to a multibody, based on its temporary index.

pub fn get_multibody_mut_internal( &mut self, index: MultibodyIndex, ) -> Option<&mut Multibody>

Gets a mutable reference to a multibody, based on its temporary index.

This method will bypass any modification-detection automatically done by the MultibodyJointSet.

pub fn get(&self, handle: MultibodyJointHandle) -> Option<(&Multibody, usize)>

Gets a reference to the multibody identified by its handle.

pub fn get_mut( &mut self, handle: MultibodyJointHandle, ) -> Option<(&mut Multibody, usize)>

Gets a mutable reference to the multibody identified by its handle.

pub fn get_mut_internal( &mut self, handle: MultibodyJointHandle, ) -> Option<(&mut Multibody, usize)>

Gets a mutable reference to the multibody identified by its handle.

This method will bypass any modification-detection automatically done by the MultibodyJointSet.

pub fn get_unknown_gen( &self, i: u32, ) -> Option<(&Multibody, usize, MultibodyJointHandle)>

Gets the joint with the given handle without a known generation.

This is useful when you know you want the joint at index i but don’t know what is its current generation number. Generation numbers are used to protect from the ABA problem because the joint position i are recycled between two insertion and a removal.

Using this is discouraged in favor of self.get(handle) which does not suffer form the ABA problem.

pub fn joint_between( &self, rb1: RigidBodyHandle, rb2: RigidBodyHandle, ) -> Option<(MultibodyJointHandle, &Multibody, &MultibodyLink)>

Returns the the joint between two rigid-bodies (if it exists).

pub fn attached_joints( &self, rb: RigidBodyHandle, ) -> impl Iterator<Item = (RigidBodyHandle, RigidBodyHandle, MultibodyJointHandle)>

Iterates through all the joints attached to the given rigid-body.

pub fn attached_bodies( &self, body: RigidBodyHandle, ) -> impl Iterator<Item = RigidBodyHandle>

Iterate through the handles of all the rigid-bodies attached to this rigid-body by a multibody_joint.

pub fn bodies_attached_with_enabled_joint( &self, body: RigidBodyHandle, ) -> impl Iterator<Item = RigidBodyHandle>

Iterate through the handles of all the rigid-bodies attached to this rigid-body by an enabled multibody_joint.

pub fn multibodies(&self) -> impl Iterator<Item = &Multibody>

Iterates through all the multibodies on this set.

Trait Implementations

impl Clone for MultibodyJointSet

fn clone(&self) -> MultibodyJointSet

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Default for MultibodyJointSet

fn default() -> MultibodyJointSet

Returns the “default value” for a type.

impl Index<MultibodyIndex> for MultibodyJointSet

type Output = Multibody

The returned type after indexing.

fn index(&self, index: MultibodyIndex) -> &Multibody

Performs the indexing (container[index]) operation.