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

@@ -26,40 +26,32 @@ pub fn init_world(testbed: &mut Testbed) {
     testbed.add_callback(move |mut graphics, physics, _, state| {
         let rot = state.time * -1.0;
         for rb_handle in &platform_handles {
-            let rb = physics.bodies.get_mut(*rb_handle).unwrap();
+            let rb = physics.context.bodies.get_mut(*rb_handle).unwrap();
             rb.set_next_kinematic_rotation(UnitComplex::new(rot));
         }
 
         if state.timestep_id % 10 == 0 {
             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
+                .context
+                .insert_body_and_collider(rigid_body, ColliderBuilder::cuboid(rad, rad));
 
             if let Some(graphics) = &mut graphics {
-                graphics.add_body(handle, &physics.bodies, &physics.colliders);
+                graphics.add_body(handle, &physics.context.bodies, &physics.context.colliders);
             }
         }
 
         let to_remove: Vec<_> = physics
+            .context
             .bodies
             .iter()
             .filter(|(_, b)| b.position().translation.vector.y < -10.0)
             .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.context.remove_rigidbody(handle, true);
 
             if let Some(graphics) = &mut graphics {
                 graphics.remove_body(handle);

examples2d/ccd2.rs

@@ -95,12 +95,14 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let parent_handle1 = physics
+                .context
                 .colliders
                 .get(prox.collider1())
                 .unwrap()
                 .parent()
                 .unwrap();
             let parent_handle2 = physics
+                .context
                 .colliders
                 .get(prox.collider2())
                 .unwrap()

examples2d/character_controller2.rs

@@ -153,7 +153,7 @@ pub fn init_world(testbed: &mut Testbed) {
         // let angvel = run_state.time.sin() * 0.5;
 
         // Update the velocity-based kinematic body by setting its velocity.
-        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
+        if let Some(platform) = physics.context.bodies.get_mut(platform_handle) {
             platform.set_linvel(linvel, true);
             // NOTE: interaction with rotating platforms isn’t handled very well yet.
             // platform.set_angvel(angvel, true);

examples2d/debug_compression2.rs

@@ -54,11 +54,11 @@ pub fn init_world(testbed: &mut Testbed) {
     let mut force = vector![0.0, 0.0];
 
     testbed.add_callback(move |_, physics, _, _| {
-        let left_plank = &mut physics.bodies[handles[0]];
+        let left_plank = &mut physics.context.bodies[handles[0]];
         left_plank.reset_forces(true);
         left_plank.add_force(force, true);
 
-        let right_plank = &mut physics.bodies[handles[1]];
+        let right_plank = &mut physics.context.bodies[handles[1]];
         right_plank.reset_forces(true);
         right_plank.add_force(-force, true);
 

examples2d/debug_intersection2.rs

@@ -41,20 +41,18 @@ 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.context.intersection_with_shape(
             &Isometry::translation(slow_time.cos() * 10.0, slow_time.sin() * 10.0),
             &Ball::new(rad / 2.0),
             QueryFilter::default(),
         );
 
         if let Some(graphics) = graphics {
-            for (handle, _) in physics.bodies.iter() {
+            for (handle, _) in physics.context.bodies.iter() {
                 graphics.set_body_color(handle, [0.5, 0.5, 0.5]);
             }
             if let Some(intersection) = intersection {
-                let collider = physics.colliders.get(intersection).unwrap();
+                let collider = physics.context.colliders.get(intersection).unwrap();
                 let body_handle = collider.parent().unwrap();
 
                 graphics.set_body_color(body_handle, [1.0, 0.0, 0.0]);

examples2d/drum2.rs

@@ -66,7 +66,11 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     testbed.add_callback(move |_, physics, _, _| {
         // Update the velocity-based kinematic body by setting its velocity.
-        if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
+        if let Some(platform) = physics
+            .context
+            .bodies
+            .get_mut(velocity_based_platform_handle)
+        {
             platform.set_angvel(-0.15, true);
         }
     });

examples2d/inverse_kinematics2.rs

@@ -57,7 +57,7 @@ pub fn init_world(testbed: &mut Testbed) {
 
     testbed.add_callback(move |graphics, physics, _, _| {
         let Some(graphics) = graphics else { return };
-        if let Some((multibody, link_id)) = physics.multibody_joints.get_mut(last_link) {
+        if let Some((multibody, link_id)) = physics.context.multibody_joints.get_mut(last_link) {
             // Ensure our displacement vector has the right number of elements.
             if displacements.nrows() < multibody.ndofs() {
                 displacements = DVector::zeros(multibody.ndofs());
@@ -78,7 +78,7 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             multibody.inverse_kinematics(
-                &physics.bodies,
+                &physics.context.bodies,
                 link_id,
                 &options,
                 &Isometry::from(target_point),

examples2d/one_way_platforms2.rs

@@ -90,22 +90,21 @@ pub fn init_world(testbed: &mut Testbed) {
      * depending on their position.
      */
     testbed.add_callback(move |graphics, physics, _, run_state| {
-        if run_state.timestep_id % 200 == 0 && physics.bodies.len() <= 7 {
+        if run_state.timestep_id % 200 == 0 && physics.context.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.context.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);
+                graphics.add_body(handle, &physics.context.bodies, &physics.context.colliders);
             }
         }
 
-        for handle in physics.islands.active_dynamic_bodies() {
-            let body = &mut physics.bodies[*handle];
+        for handle in physics.context.island_manager.active_dynamic_bodies() {
+            let body = &mut physics.context.bodies[*handle];
             if body.position().translation.y > 1.0 {
                 body.set_gravity_scale(1.0, false);
             } else if body.position().translation.y < -1.0 {

examples2d/platform2.rs

@@ -69,14 +69,22 @@ pub fn init_world(testbed: &mut Testbed) {
         let velocity = vector![run_state.time.sin() * 5.0, (run_state.time * 5.0).sin()];
 
         // Update the velocity-based kinematic body by setting its velocity.
-        if let Some(platform) = physics.bodies.get_mut(velocity_based_platform_handle) {
+        if let Some(platform) = physics
+            .context
+            .bodies
+            .get_mut(velocity_based_platform_handle)
+        {
             platform.set_linvel(velocity, true);
         }
 
         // Update the position-based kinematic body by setting its next position.
-        if let Some(platform) = physics.bodies.get_mut(position_based_platform_handle) {
+        if let Some(platform) = physics
+            .context
+            .bodies
+            .get_mut(position_based_platform_handle)
+        {
             let mut next_tra = *platform.translation();
-            next_tra += velocity * physics.integration_parameters.dt;
+            next_tra += velocity * physics.context.integration_parameters.dt;
             platform.set_next_kinematic_translation(next_tra);
         }
     });

examples2d/sensor2.rs

@@ -75,8 +75,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 [0.5, 0.5, 1.0]
             };
 
-            let parent_handle1 = physics.colliders[prox.collider1()].parent().unwrap();
-            let parent_handle2 = physics.colliders[prox.collider2()].parent().unwrap();
+            let parent_handle1 = physics.context.colliders[prox.collider1()]
+                .parent()
+                .unwrap();
+            let parent_handle2 = physics.context.colliders[prox.collider2()]
+                .parent()
+                .unwrap();
 
             if let Some(graphics) = &mut graphics {
                 if parent_handle1 != ground_handle && parent_handle1 != sensor_handle {

examples3d-f64/debug_serialized3.rs

@@ -26,10 +26,10 @@ pub fn init_world(testbed: &mut Testbed) {
         state.impulse_joints,
         state.multibody_joints,
     );
-    testbed.harness_mut().physics.islands = 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;
+    testbed.harness_mut().physics.context.island_manager = state.islands;
+    testbed.harness_mut().physics.context.broad_phase = state.broad_phase;
+    testbed.harness_mut().physics.context.narrow_phase = state.narrow_phase;
+    testbed.harness_mut().physics.context.ccd_solver = state.ccd_solver;
 
     testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
     testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);

examples3d/ccd3.rs

@@ -120,12 +120,14 @@ pub fn init_world(testbed: &mut Testbed) {
             };
 
             let parent_handle1 = physics
+                .context
                 .colliders
                 .get(prox.collider1())
                 .unwrap()
                 .parent()
                 .unwrap();
             let parent_handle2 = physics
+                .context
                 .colliders
                 .get(prox.collider2())
                 .unwrap()

examples3d/character_controller3.rs

@@ -169,7 +169,7 @@ pub fn init_world(testbed: &mut Testbed) {
         // let angvel = run_state.time.sin() * 0.5;
 
         // Update the velocity-based kinematic body by setting its velocity.
-        if let Some(platform) = physics.bodies.get_mut(platform_handle) {
+        if let Some(platform) = physics.context.bodies.get_mut(platform_handle) {
             platform.set_linvel(linvel, true);
             // NOTE: interaction with rotating platforms isn’t handled very well yet.
             // platform.set_angvel(angvel, true);

examples3d/debug_add_remove_collider3.rs

@@ -35,18 +35,20 @@ pub fn init_world(testbed: &mut Testbed) {
         // Remove then re-add the ground collider.
         let removed_collider_handle = ground_collider_handle;
         let coll = physics
+            .context
             .colliders
             .remove(
                 removed_collider_handle,
-                &mut physics.islands,
-                &mut physics.bodies,
+                &mut physics.context.island_manager,
+                &mut physics.context.bodies,
                 true,
             )
             .unwrap();
-        ground_collider_handle =
-            physics
-                .colliders
-                .insert_with_parent(coll, ground_handle, &mut physics.bodies);
+        ground_collider_handle = physics.context.colliders.insert_with_parent(
+            coll,
+            ground_handle,
+            &mut physics.context.bodies,
+        );
     });
 
     /*

examples3d/debug_deserialize3.rs

@@ -38,11 +38,12 @@ pub fn init_world(testbed: &mut Testbed) {
                 state.impulse_joints,
                 state.multibody_joints,
             );
-            testbed.harness_mut().physics.islands = 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;
-            testbed.harness_mut().physics.gravity = state.gravity;
+            testbed.harness_mut().physics.context.island_manager = state.islands;
+            testbed.harness_mut().physics.context.broad_phase = state.broad_phase;
+            testbed.harness_mut().physics.context.narrow_phase = state.narrow_phase;
+            testbed.harness_mut().physics.context.integration_parameters =
+                state.integration_parameters;
+            testbed.harness_mut().physics.context.gravity = state.gravity;
 
             testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
             testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);

examples3d/debug_dynamic_collider_add3.rs

@@ -47,19 +47,20 @@ pub fn init_world(testbed: &mut Testbed) {
 
         // Add a bigger ball collider
         let collider = ColliderBuilder::ball(ball_rad + 0.01 * (step as f32)).density(100.0);
-        let new_ball_collider_handle =
-            physics
-                .colliders
-                .insert_with_parent(collider, ball_handle, &mut physics.bodies);
+        let new_ball_collider_handle = physics.context.colliders.insert_with_parent(
+            collider,
+            ball_handle,
+            &mut physics.context.bodies,
+        );
 
         if let Some(graphics) = &mut graphics {
-            graphics.add_collider(new_ball_collider_handle, &physics.colliders);
+            graphics.add_collider(new_ball_collider_handle, &physics.context.colliders);
         }
 
         extra_colliders.push(new_ball_collider_handle);
 
         // Snap the ball velocity or restore it.
-        let ball = physics.bodies.get_mut(ball_handle).unwrap();
+        let ball = physics.context.bodies.get_mut(ball_handle).unwrap();
 
         if step == snapped_frame {
             linvel = *ball.linvel();
@@ -75,12 +76,10 @@ pub fn init_world(testbed: &mut Testbed) {
 
             for handle in &extra_colliders {
                 if let Some(graphics) = &mut graphics {
-                    graphics.remove_collider(*handle, &physics.colliders);
+                    graphics.remove_collider(*handle, &physics.context.colliders);
                 }
 
-                physics
-                    .colliders
-                    .remove(*handle, &mut physics.islands, &mut physics.bodies, true);
+                physics.context.remove_collider(*handle, true);
             }
 
             extra_colliders.clear();
@@ -95,13 +94,14 @@ pub fn init_world(testbed: &mut Testbed) {
         //     .unwrap();
         let coll = ColliderBuilder::cuboid(ground_size, ground_height + step as f32 * 0.01, 0.4)
             .friction(0.15);
-        let new_ground_collider_handle =
-            physics
-                .colliders
-                .insert_with_parent(coll, ground_handle, &mut physics.bodies);
+        let new_ground_collider_handle = physics.context.colliders.insert_with_parent(
+            coll,
+            ground_handle,
+            &mut physics.context.bodies,
+        );
 
         if let Some(graphics) = &mut graphics {
-            graphics.add_collider(new_ground_collider_handle, &physics.colliders);
+            graphics.add_collider(new_ground_collider_handle, &physics.context.colliders);
         }
 
         extra_colliders.push(new_ground_collider_handle);

examples3d/debug_rollback3.rs

@@ -45,7 +45,7 @@ pub fn init_world(testbed: &mut Testbed) {
         step += 1;
 
         // Snap the ball velocity or restore it.
-        let ball = physics.bodies.get_mut(ball_handle).unwrap();
+        let ball = physics.context.bodies.get_mut(ball_handle).unwrap();
 
         if step == snapped_frame {
             linvel = *ball.linvel();