Struct linear_sim::system::System

pub struct System<INTG: Integrator> { /* fields omitted */ }

A system representing the computational model for the simulation.

There are three categories of entities that are found in the system (model):

• Objects -- Static, Dynamic, Nodetect
• Forces -- Gravity
• Constraints -- 'Planar', 'Penetration' (TODO)

Methods

impl<INTG: Integrator> System<INTG>

pub fn new() -> Self where
    INTG: Default, 

pub fn step(&self) -> u64

pub fn objects_dynamic(&self) -> &VecMap<Dynamic>

pub fn objects_nodetect(&self) -> &VecMap<Nodetect>

pub fn objects_static(&self) -> &VecMap<Static>

pub fn handle_event(&mut self, input: Input) -> Vec<Output>

Input event handling.

• CreateObject -- if an object is found to be in non-colliding contact with any other objects, those contacts will be registered with the collision system as persistent contacts for the upcoming step
• DestroyObject
• SetGravity
• ClearGravity
• Step -- advance the simulation by a single timestep:

  1. Derivative evaluation: forces are accumulated and acceleration computed

  2. Velocities are integrated

  3. Velocity constraints are solved

  4. Positions are integrated using the new velocity (semi-implicit Euler)

  5. Position constraints are solved

  6. Collision detects and resolves collisions in the normalized sub-timestep [0.0-1.0).

     Note that colliding contacts detected at t==1.0 will not produce a collision response event (the next step will detect and resolve this collision), however resting or separating contacts detected at t==1.0 will be registered as a persistent contact for the next simulation step.

Trait Implementations

impl<INTG: PartialEq + Integrator> PartialEq<System<INTG>> for System<INTG>

fn eq(&self, other: &System<INTG>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &System<INTG>) -> bool

This method tests for !=.

impl<INTG: Clone + Integrator> Clone for System<INTG>

fn clone(&self) -> System<INTG>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<INTG: Default + Integrator> Default for System<INTG>

fn default() -> System<INTG>

Returns the "default value" for a type.

impl<INTG: Debug + Integrator> Debug for System<INTG>

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

Formats the value using the given formatter.