Struct Builder

pub struct Builder {

    pub transform: Isometry3<f32>,
    pub trimesh: Option<TriMesh>,
    pub mesh: Option<Mesh>,
    pub collider_radius: Option<f32>,
    pub collider_skin: Option<f32>,
    pub mass: Option<f32>,
    pub substeps: Option<usize>,
    pub stiffness: Option<Stiffness<f32>>,
    pub partial_constraints: Vec<(Vector3<f32>, DistanceBuilder<false, true, true>)>,
    pub extra_constraints: Vec<Distance>,
    pub linear_damping: Option<f32>,
    pub distance_constraint_damping: Option<f32>,
    pub tetrahedra_volume_constraint_damping: Option<f32>,
}

Build an XPBD body

Fields

transform: Isometry3<f32>

trimesh: Option<TriMesh>

mesh: Option<Mesh>

collider_radius: Option<f32>

collider_skin: Option<f32>

mass: Option<f32>

substeps: Option<usize>

stiffness: Option<Stiffness<f32>>

partial_constraints: Vec<(Vector3<f32>, DistanceBuilder<false, true, true>)>

extra_constraints: Vec<Distance>

linear_damping: Option<f32>

distance_constraint_damping: Option<f32>

tetrahedra_volume_constraint_damping: Option<f32>

Implementations

impl Builder

pub fn new() -> Self

pub fn mass(self, mass: f32) -> Self

Sets the total mass (KG) of this body (required)

pub fn stiffness(self, young: f32, poisson: f32) -> Self

Sets the default stiffness for all constraints, in real-world units (Young’s modulus and poisson constant)

(required)

pub fn substeps(self, substeps: usize) -> Self

Number of XPBD simulation substeps.

Has significant impact on accuracy.

For dt of 1/60th of a second, accuracy will significantly improve up to ~200 substeps, then diminishing returns beyond.

Defaults to 100 (a moderately high default)

pub fn mesh(self, trimesh: TriMesh, mesh: Mesh) -> Self

Add a tetrahedral mesh (required)

pub fn collider_radius(self, collider_radius: f32) -> Self

Radius of spherical colliders for particles

pub fn collider_skin(self, collider_skin: f32) -> Self

Set default stand-off collision radius for particles, effectively adding this amount to the spheres’ radii without making them visually larger

pub fn linear_damping(self, d: f32) -> Self

Set particle linear damping

pub fn tetrahedra_volume_constraint_damping(self, d: f32) -> Self

Set default volume constraint damping (not linear damping ex. air friction)

pub fn distance_constraint_damping(self, d: f32) -> Self

Set default distance constraint damping (not linear damping ex. air friction)

pub fn extra_constraint(self, constraint: Distance) -> Self

Add an extra distance constraint between two rigid bodies.

pub fn extra_constraints(self, iter: impl IntoIterator<Item = Distance>) -> Self

Shorthand for calling .extra_constraint on each item in an iterator

pub fn partial_constraint( self, at: Vector3<f32>, constraint: DistanceBuilder<false, true, true>, ) -> Self

Add a distance constraint between a rigid body you have already created, and the particle that will be in the XPBD body.

pub fn partial_constraints( self, iter: impl IntoIterator<Item = (Vector3<f32>, DistanceBuilder<false, true, true>)>, ) -> Self

Shorthand for calling .partial_constraint on each item in an iterator

fn build_constraints( distance_constraints: Vec<Distance>, volume_constraints: Vec<TetrahedronVolume>, ixmap: &mut FxHashMap<RigidBodyHandle, usize>, handles: &mut Vec<RigidBodyHandle>, ) -> Vec<Constraint>

pub fn build( self, xpbd: &mut Set, bodies: &mut RigidBodySet, colliders: &mut ColliderSet, ) -> Result<Handle, Error>

Build the body

Trait Implementations

impl Clone for Builder

fn clone(&self) -> Builder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Builder

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

Formats the value using the given formatter.

impl Default for Builder

fn default() -> Self

Returns the “default value” for a type.