Physics context with arguments from PhysicsPipeline::step

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;

src/physics_context.rs

@@ -0,0 +1,82 @@
+use crate::prelude::*;
+
+/// Contains all arguments to be passed to [`PhysicsPipeline::step`]
+#[allow(missing_docs)]
+pub struct PhysicsContext<PH: PhysicsHooks = (), EV: EventHandler = ()> {
+    pub gravity: Vector<Real>,
+    pub integration_parameters: IntegrationParameters,
+    pub physics_pipeline: PhysicsPipeline,
+    pub island_manager: IslandManager,
+    pub broad_phase: DefaultBroadPhase,
+    pub narrow_phase: NarrowPhase,
+    pub bodies: RigidBodySet,
+    pub colliders: ColliderSet,
+    pub impulse_joint_set: ImpulseJointSet,
+    pub multibody_joint_set: MultibodyJointSet,
+    pub ccd_solver: CCDSolver,
+    pub query_pipeline: Option<QueryPipeline>,
+    pub hooks: PH,
+    pub events: EV,
+}
+
+impl<PH: PhysicsHooks + Default, EV: EventHandler + Default> Default for PhysicsContext<PH, EV> {
+    fn default() -> Self {
+        Self {
+            gravity: Vector::<Real>::default(),
+            integration_parameters: IntegrationParameters::default(),
+            physics_pipeline: PhysicsPipeline::new(),
+            island_manager: IslandManager::new(),
+            broad_phase: BroadPhaseMultiSap::new(),
+            narrow_phase: NarrowPhase::new(),
+            bodies: RigidBodySet::new(),
+            colliders: ColliderSet::new(),
+            impulse_joint_set: ImpulseJointSet::new(),
+            multibody_joint_set: MultibodyJointSet::new(),
+            ccd_solver: CCDSolver::new(),
+            query_pipeline: Some(QueryPipeline::new()),
+            hooks: PH::default(),
+            events: EV::default(),
+        }
+    }
+}
+
+impl<PH: PhysicsHooks, EV: EventHandler> PhysicsContext<PH, EV> {
+    /// Create a new physics context with given hooks and event handling.
+    pub fn default_with(hooks: PH, events: EV) -> Self {
+        Self {
+            gravity: Vector::<Real>::default(),
+            integration_parameters: IntegrationParameters::default(),
+            physics_pipeline: PhysicsPipeline::new(),
+            island_manager: IslandManager::new(),
+            broad_phase: DefaultBroadPhase::new(),
+            narrow_phase: NarrowPhase::new(),
+            bodies: RigidBodySet::new(),
+            colliders: ColliderSet::new(),
+            impulse_joint_set: ImpulseJointSet::new(),
+            multibody_joint_set: MultibodyJointSet::new(),
+            ccd_solver: CCDSolver::new(),
+            query_pipeline: Some(QueryPipeline::new()),
+            hooks,
+            events,
+        }
+    }
+
+    /// Shortcut to [`PhysicsPipeline::step`]
+    pub fn step(&mut self) {
+        self.physics_pipeline.step(
+            &self.gravity,
+            &self.integration_parameters,
+            &mut self.island_manager,
+            &mut self.broad_phase,
+            &mut self.narrow_phase,
+            &mut self.bodies,
+            &mut self.colliders,
+            &mut self.impulse_joint_set,
+            &mut self.multibody_joint_set,
+            &mut self.ccd_solver,
+            self.query_pipeline.as_mut(),
+            &self.hooks,
+            &self.events,
+        );
+    }
+}