Physics context with arguments from PhysicsPipeline::step

CHANGELOG.md

@@ -1,3 +1,11 @@
+# Changelog
+
+## Unreleased
+
+### Added
+
+- Add a `PhysicsContext` struct containing top level rapier structs to help with reducing boilerplate.
+
 ## v0.23.0 (08 Jan 2025)
 
 ### Fix
@@ -16,7 +24,6 @@
 - `RigidBodySet` and `ColliderSet` have a new constructor `with_capacity`.
 - Use `profiling` crate to provide helpful profiling information in different tools.
   - The testbeds have been updated to use `puffin_egui`
-
 ### Modified
 
 - `InteractionGroups` default value for `memberships` is now `GROUP_1` (#706)

examples2d/add_remove2.rs

@@ -34,11 +34,8 @@ pub fn init_world(testbed: &mut Testbed) {
             let x = rand::random::<f32>() * 10.0 - 5.0;
             let y = rand::random::<f32>() * 10.0 + 10.0;
             let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
-            let handle = physics.bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(rad, rad);
-            physics
-                .colliders
-                .insert_with_parent(collider, handle, &mut physics.bodies);
+            let (handle, _) =
+                physics.insert_body_and_collider(rigid_body, ColliderBuilder::cuboid(rad, rad));
 
             if let Some(graphics) = &mut graphics {
                 graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -52,14 +49,7 @@ pub fn init_world(testbed: &mut Testbed) {
             .map(|e| e.0)
             .collect();
         for handle in to_remove {
-            physics.bodies.remove(
-                handle,
-                &mut physics.islands,
-                &mut physics.colliders,
-                &mut physics.impulse_joints,
-                &mut physics.multibody_joints,
-                true,
-            );
+            physics.remove_rigidbody(handle, true);
 
             if let Some(graphics) = &mut graphics {
                 graphics.remove_body(handle);

examples2d/debug_intersection2.rs

@@ -41,9 +41,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     testbed.add_callback(move |graphics, physics, _, run| {
         let slow_time = run.timestep_id as f32 / 3.0;
-        let intersection = physics.query_pipeline.intersection_with_shape(
-            &physics.bodies,
-            &physics.colliders,
+        let intersection = physics.intersection_with_shape(
             &Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
             &Ball::new(rad / 2.0),
             QueryFilter::default(),

examples2d/one_way_platforms2.rs

@@ -93,18 +93,17 @@ pub fn init_world(testbed: &mut Testbed) {
         if run_state.timestep_id % 200 == 0 && physics.bodies.len() <= 7 {
             // Spawn a new cube.
             let collider = ColliderBuilder::cuboid(1.5, 2.0);
-            let body = RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]);
-            let handle = physics.bodies.insert(body);
-            physics
-                .colliders
-                .insert_with_parent(collider, handle, &mut physics.bodies);
+            let (handle, _) = physics.insert_body_and_collider(
+                RigidBodyBuilder::dynamic().translation(vector![20.0, 10.0]),
+                collider,
+            );
 
             if let Some(graphics) = graphics {
                 graphics.add_body(handle, &physics.bodies, &physics.colliders);
             }
         }
 
-        for handle in physics.islands.active_dynamic_bodies() {
+        for handle in physics.island_manager.active_dynamic_bodies() {
             let body = &mut physics.bodies[*handle];
             if body.position().translation.y > 1.0 {
                 body.set_gravity_scale(1.0, false);

examples3d-f64/debug_serialized3.rs

@@ -26,7 +26,7 @@ pub fn init_world(testbed: &mut Testbed) {
         state.impulse_joints,
         state.multibody_joints,
     );
-    testbed.harness_mut().physics.islands = state.islands;
+    testbed.harness_mut().physics.island_manager = state.islands;
     testbed.harness_mut().physics.broad_phase = state.broad_phase;
     testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
     testbed.harness_mut().physics.ccd_solver = state.ccd_solver;

examples3d/debug_add_remove_collider3.rs

@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
             .colliders
             .remove(
                 removed_collider_handle,
-                &mut physics.islands,
+                &mut physics.island_manager,
                 &mut physics.bodies,
                 true,
             )

examples3d/debug_deserialize3.rs

@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 state.impulse_joints,
                 state.multibody_joints,
             );
-            testbed.harness_mut().physics.islands = state.islands;
+            testbed.harness_mut().physics.island_manager = state.islands;
             testbed.harness_mut().physics.broad_phase = state.broad_phase;
             testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
             testbed.harness_mut().physics.integration_parameters = state.integration_parameters;

examples3d/debug_dynamic_collider_add3.rs

@@ -78,9 +78,7 @@ pub fn init_world(testbed: &mut Testbed) {
                     graphics.remove_collider(*handle, &physics.colliders);
                 }
 
-                physics
-                    .colliders
-                    .remove(*handle, &mut physics.islands, &mut physics.bodies, true);
+                physics.remove_collider(*handle, true);
             }
 
             extra_colliders.clear();

examples3d/fountain3.rs

@@ -24,17 +24,14 @@ pub fn init_world(testbed: &mut Testbed) {
 
     // Callback that will be executed on the main loop to handle proximities.
     testbed.add_callback(move |mut graphics, physics, _, run_state| {
-        let rigid_body = RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0, 0.0]);
-        let handle = physics.bodies.insert(rigid_body);
-        let collider = match run_state.timestep_id % 3 {
-            0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
-            1 => ColliderBuilder::cone(rad, rad),
-            _ => ColliderBuilder::cuboid(rad, rad, rad),
-        };
-
-        physics
-            .colliders
-            .insert_with_parent(collider, handle, &mut physics.bodies);
+        physics.insert_body_and_collider(
+            RigidBodyBuilder::dynamic().translation(vector![0.0, 10.0, 0.0]),
+            match run_state.timestep_id % 3 {
+                0 => ColliderBuilder::round_cylinder(rad, rad, rad / 10.0),
+                1 => ColliderBuilder::cone(rad, rad),
+                _ => ColliderBuilder::cuboid(rad, rad, rad),
+            },
+        );
 
         if let Some(graphics) = &mut graphics {
             graphics.add_body(handle, &physics.bodies, &physics.colliders);
@@ -57,14 +54,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
             let num_to_remove = to_remove.len() - MAX_NUMBER_OF_BODIES;
             for (handle, _) in &to_remove[..num_to_remove] {
-                physics.bodies.remove(
-                    *handle,
-                    &mut physics.islands,
-                    &mut physics.colliders,
-                    &mut physics.impulse_joints,
-                    &mut physics.multibody_joints,
-                    true,
-                );
+                physics.remove_rigidbody(*handle, true);
 
                 if let Some(graphics) = &mut graphics {
                     graphics.remove_body(*handle);

examples3d/one_way_platforms3.rs

@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
             }
         }
 
-        for handle in physics.islands.active_dynamic_bodies() {
+        for handle in physics.island_manager.active_dynamic_bodies() {
             let body = physics.bodies.get_mut(*handle).unwrap();
             if body.position().translation.y > 1.0 {
                 body.set_gravity_scale(1.0, false);

src/counters/ccd_counters.rs

@@ -2,7 +2,7 @@ use crate::counters::Timer;
 use std::fmt::{Display, Formatter, Result};
 
 /// Performance counters related to continuous collision detection (CCD).
-#[derive(Default, Clone, Copy)]
+#[derive(Default, Debug, Clone, Copy)]
 pub struct CCDCounters {
     /// The number of substeps actually performed by the CCD resolution.
     pub num_substeps: usize,

src/counters/collision_detection_counters.rs

@@ -2,7 +2,7 @@ use crate::counters::Timer;
 use std::fmt::{Display, Formatter, Result};
 
 /// Performance counters related to collision detection.
-#[derive(Default, Clone, Copy)]
+#[derive(Default, Debug, Clone, Copy)]
 pub struct CollisionDetectionCounters {
     /// Number of contact pairs detected.
     pub ncontact_pairs: usize,

src/counters/solver_counters.rs

@@ -2,7 +2,7 @@ use crate::counters::Timer;
 use std::fmt::{Display, Formatter, Result};
 
 /// Performance counters related to constraints resolution.
-#[derive(Default, Clone, Copy)]
+#[derive(Default, Debug, Clone, Copy)]
 pub struct SolverCounters {
     /// Number of constraints generated.
     pub nconstraints: usize,

src/counters/stages_counters.rs

@@ -2,7 +2,7 @@ use crate::counters::Timer;
 use std::fmt::{Display, Formatter, Result};
 
 /// Performance counters related to each stage of the time step.
-#[derive(Default, Clone, Copy)]
+#[derive(Default, Debug, Clone, Copy)]
 pub struct StagesCounters {
     /// Time spent for updating the kinematic and dynamics of every body.
     pub update_time: Timer,

src/lib.rs

@@ -139,6 +139,8 @@ pub mod geometry;
 pub mod pipeline;
 pub mod utils;
 
+mod physics_context;
+
 /// Elementary mathematical entities (vectors, matrices, isometries, etc).
 pub mod math {
     pub use parry::math::*;
@@ -215,6 +217,7 @@ pub mod prelude {
     pub use crate::dynamics::*;
     pub use crate::geometry::*;
     pub use crate::math::*;
+    pub use crate::physics_context::PhysicsContext;
     pub use crate::pipeline::*;
     pub use na::{point, vector, DMatrix, DVector};
     pub extern crate nalgebra;