Milky2018/moon_rapier/control

Milky2018/moon_rapier/control does not have a README file

CharacterAutostep

pub struct CharacterAutostep {
  max_height : CharacterLength
  min_width : CharacterLength
  include_dynamic_bodies : Bool
}

CharacterAutostep::CharacterAutostep

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fn CharacterAutostep::CharacterAutostep(max_height : CharacterLength, min_width : CharacterLength) -> CharacterAutostep

CharacterAutostep::default

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fn CharacterAutostep::default() -> CharacterAutostep

CharacterAutostep::include_dynamic_bodies

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fn CharacterAutostep::include_dynamic_bodies(self : CharacterAutostep) -> Bool

CharacterAutostep::max_height

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fn CharacterAutostep::max_height(self : CharacterAutostep) -> CharacterLength

CharacterAutostep::min_width

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fn CharacterAutostep::min_width(self : CharacterAutostep) -> CharacterLength

CharacterAutostep::with_include_dynamic_bodies

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fn CharacterAutostep::with_include_dynamic_bodies(self : CharacterAutostep, include_dynamic_bodies : Bool) -> CharacterAutostep

CharacterCollision

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pub struct CharacterCollision {
  handle : @Milky2018/moon_rapier/collision.ColliderHandle
ColliderHandle
  hit : @Milky2018/moon_rapier/collision.ShapeCastHit
ShapeCastHit
  translation_applied : @Milky2018/moon_rapier/core.Vec2
Vec2
  translation_remaining : @Milky2018/moon_rapier/core.Vec2
Vec2
  character_pos : @Milky2018/moon_rapier/core.Isometry2
Isometry2
}

CharacterCollision::character_pos

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fn CharacterCollision::character_pos(self : CharacterCollision) -> @Milky2018/moon_rapier/core.Isometry2
Isometry2

CharacterCollision::handle

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fn CharacterCollision::handle(self : CharacterCollision) -> @Milky2018/moon_rapier/collision.ColliderHandle
ColliderHandle

CharacterCollision::hit

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fn CharacterCollision::hit(self : CharacterCollision) -> @Milky2018/moon_rapier/collision.ShapeCastHit
ShapeCastHit

CharacterCollision::translation_applied

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fn CharacterCollision::translation_applied(self : CharacterCollision) -> @Milky2018/moon_rapier/core.Vec2
Vec2

CharacterCollision::translation_remaining

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fn CharacterCollision::translation_remaining(self : CharacterCollision) -> @Milky2018/moon_rapier/core.Vec2
Vec2

CharacterCollision3DReal

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pub struct CharacterCollision3DReal {
  handle : @Milky2018/moon_rapier/collision.ColliderHandle3D
ColliderHandle3D
  hit : @Milky2018/moon_rapier/collision.ShapeCastHit3
ShapeCastHit3
  translation_applied : @Milky2018/moon_rapier/core.Vec3
Vec3
  translation_remaining : @Milky2018/moon_rapier/core.Vec3
Vec3
  character_pos : @Milky2018/moon_rapier/core.Isometry3
Isometry3
}

CharacterCollision3DReal::character_pos

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fn CharacterCollision3DReal::character_pos(self : CharacterCollision3DReal) -> @Milky2018/moon_rapier/core.Isometry3
Isometry3

CharacterCollision3DReal::handle

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fn CharacterCollision3DReal::handle(self : CharacterCollision3DReal) -> @Milky2018/moon_rapier/collision.ColliderHandle3D
ColliderHandle3D

CharacterCollision3DReal::hit

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fn CharacterCollision3DReal::hit(self : CharacterCollision3DReal) -> @Milky2018/moon_rapier/collision.ShapeCastHit3
ShapeCastHit3

CharacterCollision3DReal::translation_applied

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fn CharacterCollision3DReal::translation_applied(self : CharacterCollision3DReal) -> @Milky2018/moon_rapier/core.Vec3
Vec3

CharacterCollision3DReal::translation_remaining

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fn CharacterCollision3DReal::translation_remaining(self : CharacterCollision3DReal) -> @Milky2018/moon_rapier/core.Vec3
Vec3

CharacterLength

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pub(all) enum CharacterLength {
  Relative(Float)
  Absolute(Float)
}

CharacterLength::absolute

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fn CharacterLength::absolute(value : Float) -> CharacterLength

CharacterLength::map_absolute

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fn CharacterLength::map_absolute(self : CharacterLength, f : (Float) -> Float) -> CharacterLength

CharacterLength::map_relative

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fn CharacterLength::map_relative(self : CharacterLength, f : (Float) -> Float) -> CharacterLength

CharacterLength::relative

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fn CharacterLength::relative(value : Float) -> CharacterLength

DynamicRayCastVehicleController

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pub struct DynamicRayCastVehicleController {
  wheels : Array[Wheel]
  chassis : @Milky2018/moon_rapier/dynamics.RigidBodyHandle
RigidBodyHandle
  index_up_axis : Int
  index_forward_axis : Int
}

DynamicRayCastVehicleController::DynamicRayCastVehicleController

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fn DynamicRayCastVehicleController::DynamicRayCastVehicleController(chassis : @Milky2018/moon_rapier/dynamics.RigidBodyHandle
RigidBodyHandle) -> DynamicRayCastVehicleController

DynamicRayCastVehicleController::add_wheel

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fn DynamicRayCastVehicleController::add_wheel(self : DynamicRayCastVehicleController, chassis_connection_cs : @Milky2018/moon_rapier/core.Vec2
Vec2, direction_cs : @Milky2018/moon_rapier/core.Vec2
Vec2, suspension_rest_length : Float, radius : Float, tuning : WheelTuning) -> Unit

DynamicRayCastVehicleController::set_brake

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fn DynamicRayCastVehicleController::set_brake(self : DynamicRayCastVehicleController, wheel_id : Int, brake : Float) -> Unit

DynamicRayCastVehicleController::set_engine_force

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fn DynamicRayCastVehicleController::set_engine_force(self : DynamicRayCastVehicleController, wheel_id : Int, force : Float) -> Unit

DynamicRayCastVehicleController::update_vehicle

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fn DynamicRayCastVehicleController::update_vehicle(self : DynamicRayCastVehicleController, dt : Float, queries : @Milky2018/moon_rapier/collision.QueryPipelineMut
QueryPipelineMut, bodies : @Milky2018/moon_rapier/dynamics.RigidBodySet
RigidBodySet, colliders : @Milky2018/moon_rapier/collision.ColliderSet
ColliderSet) -> Unit

Updates wheel contacts and applies suspension/traction impulses to the chassis.

Expected usage:

Build/update a QueryPipelineMut with a filter excluding the chassis' colliders.
Call this before the physics pipeline step so the impulses affect the solver.

DynamicRayCastVehicleController3

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pub struct DynamicRayCastVehicleController3 {
  wheels : Array[Wheel3]
  forward_ws : Array[@Milky2018/moon_rapier/core.Vec3
Vec3]
  axle_ws : Array[@Milky2018/moon_rapier/core.Vec3
Vec3]
  current_vehicle_speed : Float
  chassis : @Milky2018/moon_rapier/dynamics.RigidBodyHandle
RigidBodyHandle
  index_up_axis : Int
  index_forward_axis : Int
}

DynamicRayCastVehicleController3::DynamicRayCastVehicleController3

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fn DynamicRayCastVehicleController3::DynamicRayCastVehicleController3(chassis : @Milky2018/moon_rapier/dynamics.RigidBodyHandle
RigidBodyHandle) -> DynamicRayCastVehicleController3

DynamicRayCastVehicleController3::add_wheel

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fn DynamicRayCastVehicleController3::add_wheel(self : DynamicRayCastVehicleController3, chassis_connection_cs : @Milky2018/moon_rapier/core.Vec3
Vec3, direction_cs : @Milky2018/moon_rapier/core.Vec3
Vec3, axle_cs : @Milky2018/moon_rapier/core.Vec3
Vec3, suspension_rest_length : Float, radius : Float, tuning : WheelTuning) -> Int

DynamicRayCastVehicleController3::set_brake

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fn DynamicRayCastVehicleController3::set_brake(self : DynamicRayCastVehicleController3, wheel_id : Int, brake : Float) -> Unit

DynamicRayCastVehicleController3::set_engine_force

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fn DynamicRayCastVehicleController3::set_engine_force(self : DynamicRayCastVehicleController3, wheel_id : Int, force : Float) -> Unit

DynamicRayCastVehicleController3::set_steering_value

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fn DynamicRayCastVehicleController3::set_steering_value(self : DynamicRayCastVehicleController3, wheel_id : Int, steering : Float) -> Unit

DynamicRayCastVehicleController3::update_vehicle

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fn DynamicRayCastVehicleController3::update_vehicle(self : DynamicRayCastVehicleController3, dt : Float, queries : @Milky2018/moon_rapier/collision.QueryPipelineMut
QueryPipelineMut, bodies : @Milky2018/moon_rapier/dynamics.RigidBodySet
RigidBodySet, colliders : @Milky2018/moon_rapier/collision.ColliderSet
ColliderSet) -> Unit

DynamicRayCastVehicleController3::wheels

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fn DynamicRayCastVehicleController3::wheels(self : DynamicRayCastVehicleController3) -> Array[Wheel3]

DynamicRayCastVehicleController3DReal

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pub struct DynamicRayCastVehicleController3DReal {
  wheels : Array[Wheel3DReal]
  forward_ws : Array[@Milky2018/moon_rapier/core.Vec3
Vec3]
  axle_ws : Array[@Milky2018/moon_rapier/core.Vec3
Vec3]
  current_vehicle_speed : Float
  chassis : @Milky2018/moon_rapier/dynamics.RigidBodyHandle
RigidBodyHandle
  index_up_axis : Int
  index_forward_axis : Int
}

DynamicRayCastVehicleController3DReal::DynamicRayCastVehicleController3DReal

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fn DynamicRayCastVehicleController3DReal::DynamicRayCastVehicleController3DReal(chassis : @Milky2018/moon_rapier/dynamics.RigidBodyHandle
RigidBodyHandle) -> DynamicRayCastVehicleController3DReal

DynamicRayCastVehicleController3DReal::add_wheel

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fn DynamicRayCastVehicleController3DReal::add_wheel(self : DynamicRayCastVehicleController3DReal, chassis_connection_cs : @Milky2018/moon_rapier/core.Vec3
Vec3, direction_cs : @Milky2018/moon_rapier/core.Vec3
Vec3, axle_cs : @Milky2018/moon_rapier/core.Vec3
Vec3, suspension_rest_length : Float, radius : Float, tuning : WheelTuning) -> Int

DynamicRayCastVehicleController3DReal::set_brake

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fn DynamicRayCastVehicleController3DReal::set_brake(self : DynamicRayCastVehicleController3DReal, wheel_id : Int, brake : Float) -> Unit

DynamicRayCastVehicleController3DReal::set_engine_force

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fn DynamicRayCastVehicleController3DReal::set_engine_force(self : DynamicRayCastVehicleController3DReal, wheel_id : Int, force : Float) -> Unit

DynamicRayCastVehicleController3DReal::set_steering_value

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fn DynamicRayCastVehicleController3DReal::set_steering_value(self : DynamicRayCastVehicleController3DReal, wheel_id : Int, steering : Float) -> Unit

DynamicRayCastVehicleController3DReal::update_vehicle

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fn DynamicRayCastVehicleController3DReal::update_vehicle(self : DynamicRayCastVehicleController3DReal, dt : Float, queries : @Milky2018/moon_rapier/collision.QueryPipelineMut3DReal
QueryPipelineMut3DReal, bodies : @Milky2018/moon_rapier/dynamics.RigidBodySet3D
RigidBodySet3D, colliders : @Milky2018/moon_rapier/collision.ColliderSet3D
ColliderSet3D) -> Unit

DynamicRayCastVehicleController3DReal::wheels

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fn DynamicRayCastVehicleController3DReal::wheels(self : DynamicRayCastVehicleController3DReal) -> Array[Wheel3DReal]

DynamicRayCastVehicleController3DReal::wheels_mut

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fn DynamicRayCastVehicleController3DReal::wheels_mut(self : DynamicRayCastVehicleController3DReal) -> Array[Wheel3DReal]

EffectiveMovement

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#alias(EffectiveCharacterMovement)
pub struct EffectiveMovement {
  translation : @Milky2018/moon_rapier/core.Vec2
Vec2
  grounded : Bool
  is_sliding_down_slope : Bool
}

EffectiveMovement::is_grounded

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fn EffectiveMovement::is_grounded(self : EffectiveMovement) -> Bool

EffectiveMovement::is_sliding_down_slope

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fn EffectiveMovement::is_sliding_down_slope(self : EffectiveMovement) -> Bool

EffectiveMovement::translation

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fn EffectiveMovement::translation(self : EffectiveMovement) -> @Milky2018/moon_rapier/core.Vec2
Vec2

EffectiveMovement3DReal

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pub struct EffectiveMovement3DReal {
  translation : @Milky2018/moon_rapier/core.Vec3
Vec3
  grounded : Bool
  is_sliding_down_slope : Bool
}

EffectiveMovement3DReal::is_grounded

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fn EffectiveMovement3DReal::is_grounded(self : EffectiveMovement3DReal) -> Bool

EffectiveMovement3DReal::is_sliding_down_slope

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fn EffectiveMovement3DReal::is_sliding_down_slope(self : EffectiveMovement3DReal) -> Bool

EffectiveMovement3DReal::translation

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fn EffectiveMovement3DReal::translation(self : EffectiveMovement3DReal) -> @Milky2018/moon_rapier/core.Vec3
Vec3

KinematicCharacterController

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pub struct KinematicCharacterController {
  up : @Milky2018/moon_rapier/core.Vec2
Vec2
  offset : CharacterLength
  slide : Bool
  max_slope_climb_angle : Float
  min_slope_slide_angle : Float
  snap_to_ground : CharacterLength?
  autostep : CharacterAutostep?
  normal_nudge_factor : Float
}

KinematicCharacterController::KinematicCharacterController

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fn KinematicCharacterController::KinematicCharacterController() -> KinematicCharacterController

KinematicCharacterController::default

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fn KinematicCharacterController::default() -> KinematicCharacterController

KinematicCharacterController::move_shape

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fn KinematicCharacterController::move_shape(self : KinematicCharacterController, dt : Float, query : @Milky2018/moon_rapier/collision.QueryPipeline
QueryPipeline, bodies : @Milky2018/moon_rapier/dynamics.RigidBodySet
RigidBodySet, colliders : @Milky2018/moon_rapier/collision.ColliderSet
ColliderSet, shape : @Milky2018/moon_rapier/collision.Shape
Shape, position : @Milky2018/moon_rapier/core.Isometry2
Isometry2, translation : @Milky2018/moon_rapier/core.Vec2
Vec2, handle_collision : (CharacterCollision) -> Unit) -> EffectiveMovement

KinematicCharacterController::solve_character_collision_impulses

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fn KinematicCharacterController::solve_character_collision_impulses(self : KinematicCharacterController, dt : Float, query : @Milky2018/moon_rapier/collision.QueryPipeline
QueryPipeline, bodies : @Milky2018/moon_rapier/dynamics.RigidBodySet
RigidBodySet, colliders : @Milky2018/moon_rapier/collision.ColliderSet
ColliderSet, character_shape : @Milky2018/moon_rapier/collision.Shape
Shape, character_mass : Float, collisions : Array[CharacterCollision]) -> Unit

KinematicCharacterController::with_autostep

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fn KinematicCharacterController::with_autostep(self : KinematicCharacterController, autostep : CharacterAutostep?) -> KinematicCharacterController

KinematicCharacterController::with_max_slope_climb_angle

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fn KinematicCharacterController::with_max_slope_climb_angle(self : KinematicCharacterController, angle : Float) -> KinematicCharacterController

KinematicCharacterController::with_min_slope_slide_angle

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fn KinematicCharacterController::with_min_slope_slide_angle(self : KinematicCharacterController, angle : Float) -> KinematicCharacterController

KinematicCharacterController::with_normal_nudge_factor

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fn KinematicCharacterController::with_normal_nudge_factor(self : KinematicCharacterController, normal_nudge_factor : Float) -> KinematicCharacterController

KinematicCharacterController::with_offset

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fn KinematicCharacterController::with_offset(self : KinematicCharacterController, offset : CharacterLength) -> KinematicCharacterController

KinematicCharacterController::with_slide

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fn KinematicCharacterController::with_slide(self : KinematicCharacterController, slide : Bool) -> KinematicCharacterController

KinematicCharacterController::with_snap_to_ground

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fn KinematicCharacterController::with_snap_to_ground(self : KinematicCharacterController, snap : CharacterLength?) -> KinematicCharacterController

KinematicCharacterController::with_up

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fn KinematicCharacterController::with_up(self : KinematicCharacterController, up : @Milky2018/moon_rapier/core.Vec2
Vec2) -> KinematicCharacterController

KinematicCharacterController3DReal

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pub struct KinematicCharacterController3DReal {
  up : @Milky2018/moon_rapier/core.Vec3
Vec3
  offset : CharacterLength
  slide : Bool
  autostep : CharacterAutostep?
  max_slope_climb_angle : Float
  min_slope_slide_angle : Float
  snap_to_ground : CharacterLength?
  normal_nudge_factor : Float
}

KinematicCharacterController3DReal::KinematicCharacterController3DReal

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fn KinematicCharacterController3DReal::KinematicCharacterController3DReal() -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::default

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fn KinematicCharacterController3DReal::default() -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::move_shape

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fn KinematicCharacterController3DReal::move_shape(self : KinematicCharacterController3DReal, dt : Float, query : @Milky2018/moon_rapier/collision.QueryPipeline3DReal
QueryPipeline3DReal, bodies : @Milky2018/moon_rapier/dynamics.RigidBodySet3D
RigidBodySet3D, colliders : @Milky2018/moon_rapier/collision.ColliderSet3D
ColliderSet3D, shape : @Milky2018/moon_rapier/collision.Shape3D
Shape3D, position : @Milky2018/moon_rapier/core.Isometry3
Isometry3, translation : @Milky2018/moon_rapier/core.Vec3
Vec3, handle_collision : (CharacterCollision3DReal) -> Unit) -> EffectiveMovement3DReal

KinematicCharacterController3DReal::solve_character_collision_impulses

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fn KinematicCharacterController3DReal::solve_character_collision_impulses(self : KinematicCharacterController3DReal, dt : Float, query : @Milky2018/moon_rapier/collision.QueryPipeline3DReal
QueryPipeline3DReal, bodies : @Milky2018/moon_rapier/dynamics.RigidBodySet3D
RigidBodySet3D, colliders : @Milky2018/moon_rapier/collision.ColliderSet3D
ColliderSet3D, character_shape : @Milky2018/moon_rapier/collision.Shape3D
Shape3D, character_mass : Float, collisions : Array[CharacterCollision3DReal]) -> Unit

KinematicCharacterController3DReal::with_autostep

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fn KinematicCharacterController3DReal::with_autostep(self : KinematicCharacterController3DReal, autostep : CharacterAutostep?) -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::with_max_slope_climb_angle

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fn KinematicCharacterController3DReal::with_max_slope_climb_angle(self : KinematicCharacterController3DReal, angle : Float) -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::with_min_slope_slide_angle

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fn KinematicCharacterController3DReal::with_min_slope_slide_angle(self : KinematicCharacterController3DReal, angle : Float) -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::with_normal_nudge_factor

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fn KinematicCharacterController3DReal::with_normal_nudge_factor(self : KinematicCharacterController3DReal, nudge : Float) -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::with_offset

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fn KinematicCharacterController3DReal::with_offset(self : KinematicCharacterController3DReal, offset : CharacterLength) -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::with_slide

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fn KinematicCharacterController3DReal::with_slide(self : KinematicCharacterController3DReal, slide : Bool) -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::with_snap_to_ground

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fn KinematicCharacterController3DReal::with_snap_to_ground(self : KinematicCharacterController3DReal, snap : CharacterLength?) -> KinematicCharacterController3DReal

KinematicCharacterController3DReal::with_up

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fn KinematicCharacterController3DReal::with_up(self : KinematicCharacterController3DReal, up : @Milky2018/moon_rapier/core.Vec3
Vec3) -> KinematicCharacterController3DReal

PdController

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pub(all) struct PdController {
  lin_kp : @Milky2018/moon_rapier/core.Vec2
Vec2
  lin_kd : @Milky2018/moon_rapier/core.Vec2
Vec2
  ang_kp : Float
  ang_kd : Float
  axes : @Milky2018/moon_rapier/dynamics.AxesMask
AxesMask
}

PdController::PdController

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fn PdController::PdController(kp : Float, kd : Float, axes : @Milky2018/moon_rapier/dynamics.AxesMask
AxesMask) -> PdController

PdController::angular_rigid_body_correction

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fn PdController::angular_rigid_body_correction(self : PdController, rb : @Milky2018/moon_rapier/dynamics.RigidBody
RigidBody, target_rot : @Milky2018/moon_rapier/core.Rot2
Rot2, target_angvel : Float) -> Float

PdController::correction

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fn PdController::correction(self : PdController, pose_errors : PdErrors, vel_errors : PdErrors) -> @Milky2018/moon_rapier/dynamics.RigidBodyVelocity
RigidBodyVelocity

PdController::default

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fn PdController::default() -> PdController

PdController::linear_rigid_body_correction

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fn PdController::linear_rigid_body_correction(self : PdController, rb : @Milky2018/moon_rapier/dynamics.RigidBody
RigidBody, target_pos : @Milky2018/moon_rapier/core.Vec2
Vec2, target_linvel : @Milky2018/moon_rapier/core.Vec2
Vec2) -> @Milky2018/moon_rapier/core.Vec2
Vec2

PdController::rigid_body_correction

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fn PdController::rigid_body_correction(self : PdController, rb : @Milky2018/moon_rapier/dynamics.RigidBody
RigidBody, target_pose : @Milky2018/moon_rapier/core.Isometry2
Isometry2, target_vels : @Milky2018/moon_rapier/dynamics.RigidBodyVelocity
RigidBodyVelocity) -> @Milky2018/moon_rapier/dynamics.RigidBodyVelocity
RigidBodyVelocity

PdErrors

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pub(all) struct PdErrors {
  linear : @Milky2018/moon_rapier/core.Vec2
Vec2
  angular : Float
}

PdErrors::from_vels

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fn PdErrors::from_vels(vels : @Milky2018/moon_rapier/dynamics.RigidBodyVelocity
RigidBodyVelocity) -> PdErrors

PidController

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pub(all) struct PidController {
  pd : PdController
  lin_integral : @Milky2018/moon_rapier/core.Vec2
Vec2
  ang_integral : Float
  lin_ki : @Milky2018/moon_rapier/core.Vec2
Vec2
  ang_ki : Float
}

PidController::PidController

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fn PidController::PidController(kp : Float, ki : Float, kd : Float, axes : @Milky2018/moon_rapier/dynamics.AxesMask
AxesMask) -> PidController

PidController::angular_rigid_body_correction

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fn PidController::angular_rigid_body_correction(self : PidController, dt : Float, rb : @Milky2018/moon_rapier/dynamics.RigidBody
RigidBody, target_rot : @Milky2018/moon_rapier/core.Rot2
Rot2, target_angvel : Float) -> Float

PidController::axes

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fn PidController::axes(self : PidController) -> @Milky2018/moon_rapier/dynamics.AxesMask
AxesMask

PidController::correction

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fn PidController::correction(self : PidController, dt : Float, pose_errors : PdErrors, vel_errors : PdErrors) -> @Milky2018/moon_rapier/dynamics.RigidBodyVelocity
RigidBodyVelocity

PidController::default

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fn PidController::default() -> PidController

PidController::linear_rigid_body_correction

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fn PidController::linear_rigid_body_correction(self : PidController, dt : Float, rb : @Milky2018/moon_rapier/dynamics.RigidBody
RigidBody, target_pos : @Milky2018/moon_rapier/core.Vec2
Vec2, target_linvel : @Milky2018/moon_rapier/core.Vec2
Vec2) -> @Milky2018/moon_rapier/core.Vec2
Vec2

PidController::reset_integrals

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fn PidController::reset_integrals(self : PidController) -> PidController

PidController::rigid_body_correction

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fn PidController::rigid_body_correction(self : PidController, dt : Float, rb : @Milky2018/moon_rapier/dynamics.RigidBody
RigidBody, target_pose : @Milky2018/moon_rapier/core.Isometry2
Isometry2, target_vels : @Milky2018/moon_rapier/dynamics.RigidBodyVelocity
RigidBodyVelocity) -> @Milky2018/moon_rapier/dynamics.RigidBodyVelocity
RigidBodyVelocity

PidController::set_axes

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fn PidController::set_axes(self : PidController, axes : @Milky2018/moon_rapier/dynamics.AxesMask
AxesMask) -> PidController

RayCastInfo

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pub struct RayCastInfo {
  contact_normal_ws : @Milky2018/moon_rapier/core.Vec2
Vec2
  contact_point_ws : @Milky2018/moon_rapier/core.Vec2
Vec2
  suspension_length : Float
  hard_point_ws : @Milky2018/moon_rapier/core.Vec2
Vec2
  is_in_contact : Bool
  ground_object : @Milky2018/moon_rapier/collision.ColliderHandle
ColliderHandle?
}

RayCastInfo::default

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fn RayCastInfo::default() -> RayCastInfo

RayCastInfo3

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pub struct RayCastInfo3 {
  contact_normal_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  contact_point_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  suspension_length : Float
  hard_point_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  is_in_contact : Bool
  ground_object : @Milky2018/moon_rapier/collision.ColliderHandle
ColliderHandle?
}

RayCastInfo3::default

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fn RayCastInfo3::default() -> RayCastInfo3

RayCastInfo3DReal

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pub struct RayCastInfo3DReal {
  contact_normal_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  contact_point_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  suspension_length : Float
  hard_point_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  is_in_contact : Bool
  ground_object : @Milky2018/moon_rapier/collision.ColliderHandle3D
ColliderHandle3D?
}

Real dim3 ray-cast vehicle controller.

Ported from rapier-reference/src/control/ray_cast_vehicle_controller.rs (v0.32.0, dim3). This controller uses ray-casts for suspension contacts and applies impulses on the chassis.

RayCastInfo3DReal::default

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fn RayCastInfo3DReal::default() -> RayCastInfo3DReal

Wheel

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pub struct Wheel {
  raycast_info : RayCastInfo
  center : @Milky2018/moon_rapier/core.Vec2
Vec2
  wheel_direction_ws : @Milky2018/moon_rapier/core.Vec2
Vec2
  chassis_connection_point_cs : @Milky2018/moon_rapier/core.Vec2
Vec2
  direction_cs : @Milky2018/moon_rapier/core.Vec2
Vec2
  suspension_rest_length : Float
  max_suspension_travel : Float
  radius : Float
  suspension_stiffness : Float
  damping_compression : Float
  damping_relaxation : Float
  friction_slip : Float
  max_suspension_force : Float
  rotation : Float
  delta_rotation : Float
  clipped_inv_contact_dot_suspension : Float
  suspension_relative_velocity : Float
  wheel_suspension_force : Float
  forward_impulse : Float
  engine_force : Float
  brake : Float
}

Wheel::center

source

fn Wheel::center(self : Wheel) -> @Milky2018/moon_rapier/core.Vec2
Vec2

Wheel::raycast_info

source

fn Wheel::raycast_info(self : Wheel) -> RayCastInfo

Wheel::suspension

source

fn Wheel::suspension(self : Wheel) -> @Milky2018/moon_rapier/core.Vec2
Vec2

Wheel3

source

pub struct Wheel3 {
  raycast_info : RayCastInfo3
  center : @Milky2018/moon_rapier/core.Vec3
Vec3
  wheel_direction_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  wheel_axle_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  chassis_connection_point_cs : @Milky2018/moon_rapier/core.Vec3
Vec3
  direction_cs : @Milky2018/moon_rapier/core.Vec3
Vec3
  axle_cs : @Milky2018/moon_rapier/core.Vec3
Vec3
  suspension_rest_length : Float
  max_suspension_travel : Float
  radius : Float
  suspension_stiffness : Float
  damping_compression : Float
  damping_relaxation : Float
  friction_slip : Float
  side_friction_stiffness : Float
  max_suspension_force : Float
  rotation : Float
  delta_rotation : Float
  roll_influence : Float
  clipped_inv_contact_dot_suspension : Float
  suspension_relative_velocity : Float
  wheel_suspension_force : Float
  skid_info : Float
  forward_impulse : Float
  side_impulse : Float
  steering : Float
  engine_force : Float
  brake : Float
}

Wheel3::axle

source

fn Wheel3::axle(self : Wheel3) -> @Milky2018/moon_rapier/core.Vec3
Vec3

Wheel3::center

source

fn Wheel3::center(self : Wheel3) -> @Milky2018/moon_rapier/core.Vec3
Vec3

Wheel3::raycast_info

source

fn Wheel3::raycast_info(self : Wheel3) -> RayCastInfo3

Wheel3::suspension

source

fn Wheel3::suspension(self : Wheel3) -> @Milky2018/moon_rapier/core.Vec3
Vec3

Wheel3DReal

source

pub struct Wheel3DReal {
  raycast_info : RayCastInfo3DReal
  center : @Milky2018/moon_rapier/core.Vec3
Vec3
  wheel_direction_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  wheel_axle_ws : @Milky2018/moon_rapier/core.Vec3
Vec3
  chassis_connection_point_cs : @Milky2018/moon_rapier/core.Vec3
Vec3
  direction_cs : @Milky2018/moon_rapier/core.Vec3
Vec3
  axle_cs : @Milky2018/moon_rapier/core.Vec3
Vec3
  suspension_rest_length : Float
  max_suspension_travel : Float
  radius : Float
  suspension_stiffness : Float
  damping_compression : Float
  damping_relaxation : Float
  friction_slip : Float
  side_friction_stiffness : Float
  max_suspension_force : Float
  rotation : Float
  delta_rotation : Float
  roll_influence : Float
  clipped_inv_contact_dot_suspension : Float
  suspension_relative_velocity : Float
  wheel_suspension_force : Float
  skid_info : Float
  forward_impulse : Float
  side_impulse : Float
  steering : Float
  engine_force : Float
  brake : Float
}

Wheel3DReal::axle

source

fn Wheel3DReal::axle(self : Wheel3DReal) -> @Milky2018/moon_rapier/core.Vec3
Vec3

Wheel3DReal::center

source

fn Wheel3DReal::center(self : Wheel3DReal) -> @Milky2018/moon_rapier/core.Vec3
Vec3

Wheel3DReal::raycast_info

source

fn Wheel3DReal::raycast_info(self : Wheel3DReal) -> RayCastInfo3DReal

Wheel3DReal::suspension

source

fn Wheel3DReal::suspension(self : Wheel3DReal) -> @Milky2018/moon_rapier/core.Vec3
Vec3

WheelTuning

source

pub struct WheelTuning {
  suspension_stiffness : Float
  suspension_compression : Float
  suspension_damping : Float
  max_suspension_travel : Float
  side_friction_stiffness : Float
  friction_slip : Float
  max_suspension_force : Float
}

WheelTuning::default

source

fn WheelTuning::default() -> WheelTuning

WheelTuning::with_friction_slip

source

fn WheelTuning::with_friction_slip(self : WheelTuning, friction_slip : Float) -> WheelTuning

WheelTuning::with_max_suspension_force

source

fn WheelTuning::with_max_suspension_force(self : WheelTuning, max_suspension_force : Float) -> WheelTuning

WheelTuning::with_max_suspension_travel

source

fn WheelTuning::with_max_suspension_travel(self : WheelTuning, max_suspension_travel : Float) -> WheelTuning

WheelTuning::with_side_friction_stiffness

source

fn WheelTuning::with_side_friction_stiffness(self : WheelTuning, side_friction_stiffness : Float) -> WheelTuning

WheelTuning::with_suspension_compression

source

fn WheelTuning::with_suspension_compression(self : WheelTuning, suspension_compression : Float) -> WheelTuning

WheelTuning::with_suspension_damping

source

fn WheelTuning::with_suspension_damping(self : WheelTuning, suspension_damping : Float) -> WheelTuning

WheelTuning::with_suspension_stiffness

source

fn WheelTuning::with_suspension_stiffness(self : WheelTuning, suspension_stiffness : Float) -> WheelTuning

Source Files

Site source Report issue Packages Build queue Skills Statistics

#CharacterAutostep

#CharacterAutostep::CharacterAutostep

#CharacterAutostep::default

#CharacterAutostep::include_dynamic_bodies

#CharacterAutostep::max_height

#CharacterAutostep::min_width

#CharacterAutostep::with_include_dynamic_bodies

#CharacterCollision

#CharacterCollision::character_pos

#CharacterCollision::handle

#CharacterCollision::hit

#CharacterCollision::translation_applied

#CharacterCollision::translation_remaining

#CharacterCollision3DReal

#CharacterCollision3DReal::character_pos

#CharacterCollision3DReal::handle

#CharacterCollision3DReal::hit

#CharacterCollision3DReal::translation_applied

#CharacterCollision3DReal::translation_remaining

#CharacterLength

#CharacterLength::absolute

#CharacterLength::map_absolute

#CharacterLength::map_relative

#CharacterLength::relative

#DynamicRayCastVehicleController

#DynamicRayCastVehicleController::DynamicRayCastVehicleController

#DynamicRayCastVehicleController::add_wheel

#DynamicRayCastVehicleController::set_brake

#DynamicRayCastVehicleController::set_engine_force

#DynamicRayCastVehicleController::update_vehicle

#DynamicRayCastVehicleController3

#DynamicRayCastVehicleController3::DynamicRayCastVehicleController3

#DynamicRayCastVehicleController3::add_wheel

#DynamicRayCastVehicleController3::set_brake

#DynamicRayCastVehicleController3::set_engine_force

#DynamicRayCastVehicleController3::set_steering_value

#DynamicRayCastVehicleController3::update_vehicle

#DynamicRayCastVehicleController3::wheels

#DynamicRayCastVehicleController3DReal

#DynamicRayCastVehicleController3DReal::DynamicRayCastVehicleController3DReal

#DynamicRayCastVehicleController3DReal::add_wheel

#DynamicRayCastVehicleController3DReal::set_brake

#DynamicRayCastVehicleController3DReal::set_engine_force

#DynamicRayCastVehicleController3DReal::set_steering_value

#DynamicRayCastVehicleController3DReal::update_vehicle

#DynamicRayCastVehicleController3DReal::wheels

#DynamicRayCastVehicleController3DReal::wheels_mut

#EffectiveMovement

#EffectiveMovement::is_grounded

#EffectiveMovement::is_sliding_down_slope

#EffectiveMovement::translation

#EffectiveMovement3DReal

#EffectiveMovement3DReal::is_grounded

#EffectiveMovement3DReal::is_sliding_down_slope

#EffectiveMovement3DReal::translation

#KinematicCharacterController

#KinematicCharacterController::KinematicCharacterController

#KinematicCharacterController::default

#KinematicCharacterController::move_shape

#KinematicCharacterController::solve_character_collision_impulses

#KinematicCharacterController::with_autostep

#KinematicCharacterController::with_max_slope_climb_angle

#KinematicCharacterController::with_min_slope_slide_angle

#KinematicCharacterController::with_normal_nudge_factor

#KinematicCharacterController::with_offset

#KinematicCharacterController::with_slide

#KinematicCharacterController::with_snap_to_ground

#KinematicCharacterController::with_up

#KinematicCharacterController3DReal

#KinematicCharacterController3DReal::KinematicCharacterController3DReal

#KinematicCharacterController3DReal::default

#KinematicCharacterController3DReal::move_shape

#KinematicCharacterController3DReal::solve_character_collision_impulses

#KinematicCharacterController3DReal::with_autostep

#KinematicCharacterController3DReal::with_max_slope_climb_angle

#KinematicCharacterController3DReal::with_min_slope_slide_angle

#KinematicCharacterController3DReal::with_normal_nudge_factor

#KinematicCharacterController3DReal::with_offset

#KinematicCharacterController3DReal::with_slide

#KinematicCharacterController3DReal::with_snap_to_ground

CharacterAutostep

CharacterAutostep::CharacterAutostep

CharacterAutostep::default

CharacterAutostep::include_dynamic_bodies

CharacterAutostep::max_height

CharacterAutostep::min_width

CharacterAutostep::with_include_dynamic_bodies

CharacterCollision

CharacterCollision::character_pos

CharacterCollision::handle

CharacterCollision::hit

CharacterCollision::translation_applied

CharacterCollision::translation_remaining

CharacterCollision3DReal

CharacterCollision3DReal::character_pos

CharacterCollision3DReal::handle

CharacterCollision3DReal::hit

CharacterCollision3DReal::translation_applied

CharacterCollision3DReal::translation_remaining

CharacterLength

CharacterLength::absolute

CharacterLength::map_absolute

CharacterLength::map_relative

CharacterLength::relative

DynamicRayCastVehicleController

DynamicRayCastVehicleController::DynamicRayCastVehicleController

DynamicRayCastVehicleController::add_wheel

DynamicRayCastVehicleController::set_brake

DynamicRayCastVehicleController::set_engine_force

DynamicRayCastVehicleController::update_vehicle

DynamicRayCastVehicleController3

DynamicRayCastVehicleController3::DynamicRayCastVehicleController3

DynamicRayCastVehicleController3::add_wheel

DynamicRayCastVehicleController3::set_brake

DynamicRayCastVehicleController3::set_engine_force

DynamicRayCastVehicleController3::set_steering_value

DynamicRayCastVehicleController3::update_vehicle

DynamicRayCastVehicleController3::wheels

DynamicRayCastVehicleController3DReal

DynamicRayCastVehicleController3DReal::DynamicRayCastVehicleController3DReal

DynamicRayCastVehicleController3DReal::add_wheel

DynamicRayCastVehicleController3DReal::set_brake

DynamicRayCastVehicleController3DReal::set_engine_force

DynamicRayCastVehicleController3DReal::set_steering_value

DynamicRayCastVehicleController3DReal::update_vehicle

DynamicRayCastVehicleController3DReal::wheels

DynamicRayCastVehicleController3DReal::wheels_mut

EffectiveMovement

EffectiveMovement::is_grounded

EffectiveMovement::is_sliding_down_slope

EffectiveMovement::translation

EffectiveMovement3DReal

EffectiveMovement3DReal::is_grounded

EffectiveMovement3DReal::is_sliding_down_slope

EffectiveMovement3DReal::translation

KinematicCharacterController

KinematicCharacterController::KinematicCharacterController

KinematicCharacterController::default

KinematicCharacterController::move_shape

KinematicCharacterController::solve_character_collision_impulses

KinematicCharacterController::with_autostep

KinematicCharacterController::with_max_slope_climb_angle

KinematicCharacterController::with_min_slope_slide_angle

KinematicCharacterController::with_normal_nudge_factor

KinematicCharacterController::with_offset

KinematicCharacterController::with_slide

KinematicCharacterController::with_snap_to_ground

KinematicCharacterController::with_up

KinematicCharacterController3DReal

KinematicCharacterController3DReal::KinematicCharacterController3DReal

KinematicCharacterController3DReal::default

KinematicCharacterController3DReal::move_shape

KinematicCharacterController3DReal::solve_character_collision_impulses

KinematicCharacterController3DReal::with_autostep

KinematicCharacterController3DReal::with_max_slope_climb_angle

KinematicCharacterController3DReal::with_min_slope_slide_angle

KinematicCharacterController3DReal::with_normal_nudge_factor

KinematicCharacterController3DReal::with_offset

KinematicCharacterController3DReal::with_slide

KinematicCharacterController3DReal::with_snap_to_ground