|
| struct R3SoftBodyMaterial | r3DefaultSoftBodyMaterial (void) |
| | Return native default soft body material.
|
| struct R3SoftRecoverySettings | r3DefaultSoftRecoverySettings (void) |
| | Return native default soft recovery settings.
|
| struct R3SoftFemParameters | r3DefaultSoftFemParameters (void) |
| | Return native default soft fem parameters.
|
| struct R3SoftBodiesSettings | r3DefaultSoftBodiesSettings (void) |
| | Return native default soft bodies settings.
|
| struct R3IntegrationParameters | r3DefaultIntegrationParameters (void) |
| | Return native default integration parameters.
|
| struct R3IntegrationParameters | r3IntegrationParameters (const struct R3World *world) |
| | Return a copy of all world integration settings.
|
| R3Status | r3SetIntegrationParameters (struct R3World *world, const struct R3IntegrationParameters *data) |
| | Copies validated values; does not expose a writable alias to Rust memory.
|
| struct R3JointDesc | r3DefaultJointDesc (void) |
| | Return native default joint desc.
|
| struct R3JointDesc | r3FixedJointDesc (void) |
| | Return a fixed joint description with native defaults; no allocation.
|
| struct R3JointDesc | r3RevoluteJointDesc (struct R3Vector axis_vector) |
| | Returns a joint description.
|
| struct R3JointDesc | r3PrismaticJointDesc (struct R3Vector axis_vector) |
| | Returns a joint description.
|
| struct R3JointDesc | r3RopeJointDesc (R3Real length) |
| | Return a rope joint description with native defaults; no allocation.
|
| struct R3JointDesc | r3SpringJointDesc (R3Real length, R3Real stiffness, R3Real damping) |
| | Return a spring joint description with native defaults; no allocation.
|
| struct R3JointDesc | r3SphericalJointDesc (void) |
| | Return a spherical joint description with native defaults; no allocation.
|
| struct R3ImpulseJointHandle | r3InsertImpulseJoint (struct R3RigidBodyHandle body1, struct R3RigidBodyHandle body2, const struct R3JointDesc *joint) |
| | Create an impulse joint connecting two bodies in the same world.
|
| struct R3MultibodyJointHandle | r3InsertMultibodyJoint (struct R3RigidBodyHandle body1, struct R3RigidBodyHandle body2, const struct R3JointDesc *joint) |
| | Create an articulation joint between bodies in the same world.
|
| struct R3SoftBodyDesc | r3DefaultSoftBodyDesc (void) |
| | Return native default soft body desc.
|
| struct R3SoftBodyHandle | r3InsertSoftBody (struct R3World *world, const struct R3SoftBodyDesc *desc) |
| | Consumes no caller-owned resources.
|
| struct R3SoftMeshBindingDesc | r3DefaultSoftMeshBindingDesc (void) |
| | Return native default soft mesh binding desc.
|
| struct R3ColliderHandle | r3InsertDeformableCollider (const struct R3ColliderDesc *collider, const struct R3SoftMeshBindingDesc *binding, struct R3RigidBodyHandle parent) |
| | Create a deformable collider bound to a soft-body cluster.
|
| struct R3QueryOptions | r3DefaultQueryOptions (void) |
| | Return native default query options.
|
| struct R3RayHit | r3CastRay (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Vector origin, struct R3Vector direction, R3Real max_toi, R3Bool solid) |
| | Return the closest ray hit, or report R3_NOT_FOUND on a miss.
|
| struct R3PointProjection | r3ProjectPoint (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Vector point, R3Real max_distance, R3Bool solid) |
| | Return the closest surface projection within max_distance, or report R3_NOT_FOUND.
|
| struct R3ShapeCastHit | r3CastShape (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Pose pose, struct R3Vector velocity, const R3SharedShape *shape, struct R3ShapeCastOptions options) |
| | Sweep shape from pose along velocity and return the first hit; report R3_NOT_FOUND on a miss.
|
| size_t | r3IntersectPoint (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Vector point, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy handles of colliders containing the world-space point.
|
| size_t | r3IntersectShape (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Pose pose, const R3SharedShape *shape, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy handles of colliders intersecting the shape at its world-space pose.
|
| size_t | r3IntersectAabbConservative (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Aabb aabb, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy broad-phase candidates whose bounding boxes overlap the world-space AABB.
|
| struct R3RayToi | r3CastRayToi (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Vector origin, struct R3Vector direction, R3Real max_toi, R3Bool solid) |
| | Return the closest ray collider and time, with found = 0 on a miss (R3_OK).
|
| struct R3OptionalRayHit | r3TryCastRay (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Vector origin, struct R3Vector direction, R3Real max_toi, R3Bool solid) |
| | Return the closest ray hit with found = 0 on a miss (R3_OK).
|
| struct R3RigidBodyDesc | r3DynamicRigidBodyDesc (void) |
| | Return a dynamic rigid-body description with native defaults; no allocation.
|
| struct R3RigidBodyDesc | r3FixedRigidBodyDesc (void) |
| | Return a fixed rigid-body description with native defaults; no allocation.
|
| struct R3RigidBodyDesc | r3KinematicPositionBasedRigidBodyDesc (void) |
| | Return a kinematic position based rigid-body description with native defaults; no allocation.
|
| struct R3RigidBodyDesc | r3KinematicVelocityBasedRigidBodyDesc (void) |
| | Return a kinematic velocity based rigid-body description with native defaults; no allocation.
|
| struct R3ShapeDesc | r3DefaultShapeDesc (void) |
| | Return native default shape desc.
|
| R3SharedShape * | r3ShapeDesc_Build (const struct R3ShapeDesc *desc) |
| | Build an owned shared shape from a description; release it with r3FreeSharedShape.
|
| struct R3ColliderDesc | r3DefaultColliderDesc (void) |
| | Return native default collider desc.
|
| struct R3ColliderDesc | r3BallColliderDesc (R3Real radius) |
| | Return a ball description with the supplied radius.
|
| struct R3ColliderDesc | r3CuboidColliderDesc (struct R3Vector half_extents) |
| | Return an axis-aligned box description with the supplied half-extents.
|
| struct R3RigidBodyHandle | r3InsertRigidBody (struct R3World *world, const struct R3RigidBodyDesc *desc) |
| | Create a body from the description and return its world-bound handle.
|
| struct R3ColliderHandle | r3InsertCollider (struct R3RigidBodyHandle parent, const struct R3ColliderDesc *desc) |
| | Insert a collider attached to a rigid body, using the world stored in its handle.
|
| struct R3ColliderHandle | r3InsertColliderWithoutParent (struct R3World *world, const struct R3ColliderDesc *desc) |
| | Insert a collider without a rigid-body parent.
|
| struct R3PodLayout | r3PodLayout (void) |
| | Return POD structure sizes for checking foreign-language layouts against this library.
|
| struct R3KinematicCharacterController * | r3NewKinematicCharacterController (void) |
| | Allocate a character controller with native defaults; release it with r3FreeKinematicCharacterController.
|
| R3Status | r3FreeKinematicCharacterController (struct R3KinematicCharacterController *controller) |
| | Release an owned kinematic character controller.
|
| R3Status | r3KinematicCharacterController_SetUp (struct R3KinematicCharacterController *controller, struct R3Vector up) |
| | Set the up direction; it must be finite and nonzero and is normalized on input.
|
| R3Status | r3KinematicCharacterController_SetOffset (struct R3KinematicCharacterController *controller, struct R3CharacterLength offset) |
| | Set the collision separation margin; use a positive absolute or relative character length.
|
| R3Status | r3KinematicCharacterController_SetSlide (struct R3KinematicCharacterController *controller, R3Bool enabled) |
| | Enable or disable sliding along obstacles.
|
| R3Status | r3KinematicCharacterController_SetSlopes (struct R3KinematicCharacterController *controller, R3Real max_climb_angle, R3Real min_slide_angle) |
| | Set the maximum climb angle and minimum slide angle, in radians.
|
| R3Status | r3KinematicCharacterController_SetAutostep (struct R3KinematicCharacterController *controller, R3Bool enabled, struct R3CharacterLength max_height, struct R3CharacterLength min_width, R3Bool include_dynamic_bodies) |
| | Configure automatic stepping over obstacles.
|
| R3Status | r3KinematicCharacterController_SetSnapToGround (struct R3KinematicCharacterController *controller, R3Bool enabled, struct R3CharacterLength distance) |
| | Configure downward ground snapping.
|
| struct R3Vector | r3KinematicCharacterController_Up (const struct R3KinematicCharacterController *controller) |
| | Return the normalized up direction.
|
| struct R3CharacterLength | r3KinematicCharacterController_Offset (const struct R3KinematicCharacterController *controller) |
| | Return the collision separation margin.
|
| struct R3CharacterAutostep | r3KinematicCharacterController_Autostep (const struct R3KinematicCharacterController *controller) |
| | Return the automatic stepping settings.
|
| R3Status | r3KinematicCharacterController_SetNormalNudgeFactor (struct R3KinematicCharacterController *controller, R3Real value) |
| | Set the small distance by which sliding motion is pushed along hit normals to avoid getting stuck; it must be finite and nonnegative.
|
| R3Real | r3KinematicCharacterController_NormalNudgeFactor (const struct R3KinematicCharacterController *controller) |
| | Return the normal nudge factor set by SetNormalNudgeFactor.
|
| struct R3CharacterMovement | r3KinematicCharacterController_MoveShape (const struct R3World *world, const struct R3QueryOptions *options, struct R3KinematicCharacterController *controller, R3Real dt, const R3SharedShape *shape, struct R3Pose pose, struct R3Vector desired_translation) |
| | Computes movement without moving any collider.
|
| size_t | r3KinematicCharacterController_Collisions (const struct R3KinematicCharacterController *controller, struct R3CharacterCollision *buffer, size_t capacity) |
| | Copy collisions recorded by the most recent MoveShape call.
|
| R3Status | r3KinematicCharacterController_SolveCharacterCollisionImpulses (const struct R3KinematicCharacterController *controller, const R3SharedShape *shape, R3Real dt, R3Real mass, const struct R3QueryOptions *options) |
| | Applies impulses to the dynamic bodies hit by the most recent MoveShape call.
|
| struct R3PidController * | r3NewPidController (void) |
| | Allocate a PID controller with Rapier's defaults: kp = 60, ki = 1 and kd = 0.8 on every axis, all axes controlled, and zero integrals.
|
| R3Status | r3FreePidController (struct R3PidController *controller) |
| | Release an owned pid controller.
|
| struct R3PidGains | r3PidController_Gains (const struct R3PidController *controller) |
| | Return a copy of the proportional, integral, and derivative gains.
|
| R3Status | r3PidController_SetGains (struct R3PidController *controller, struct R3PidGains gains) |
| | Replace the proportional, integral, and derivative gains.
|
| R3Status | r3PidController_SetAxes (struct R3PidController *controller, uint32_t axes) |
| | Set the controlled axes, a combination of R3_AXES_MASK_* bits.
|
| uint32_t | r3PidController_Axes (const struct R3PidController *controller) |
| | Return the controlled axes as R3_AXES_MASK_* bits.
|
| R3Status | r3PidController_ResetIntegrals (struct R3PidController *controller) |
| | Reset to zero the linear and angular errors accumulated by the integral term.
|
| struct R3PdController | r3DefaultPdController (void) |
| | Return Rapier's default PD controller: kp = 60 and kd = 0.8 on every axis, all axes controlled.
|
| struct R3VelocityCorrection | r3PdController_RigidBodyCorrection (const struct R3PdController *controller, struct R3RigidBodyHandle body, struct R3Pose target_pose, struct R3Vector target_linvel, R3AngVector target_angvel) |
| | Compute the velocity change bringing the body toward the target pose and velocities.
|
| struct R3VelocityCorrection | r3PidController_RigidBodyCorrection (struct R3PidController *controller, R3Real dt, struct R3RigidBodyHandle body, struct R3Pose target_pose, struct R3Vector target_linvel, R3AngVector target_angvel) |
| | Compute a velocity correction, preserving the body's state and updating PID integrals.
|
| struct R3CharacterControllerSettings | r3KinematicCharacterController_Settings (const struct R3KinematicCharacterController *controller) |
| | Return a copy of slide, slope, and ground-snap settings.
|
| struct R3WheelTuning | r3DefaultWheelTuning (void) |
| | Return native default wheel tuning.
|
| struct R3DynamicRayCastVehicleController * | r3NewDynamicRayCastVehicleController (struct R3RigidBodyHandle chassis) |
| | Allocate a vehicle controller bound to its chassis body.
|
| R3Status | r3FreeDynamicRayCastVehicleController (struct R3DynamicRayCastVehicleController *controller) |
| | Release an owned dynamic ray cast vehicle controller.
|
| size_t | r3DynamicRayCastVehicleController_AddWheel (struct R3DynamicRayCastVehicleController *controller, struct R3Vector connection, struct R3Vector direction, struct R3Vector axle, R3Real rest_length, R3Real radius, const struct R3WheelTuning *tuning) |
| | Append a wheel and return its zero-based index.
|
| R3Status | r3DynamicRayCastVehicleController_SetAxes (struct R3DynamicRayCastVehicleController *controller, size_t up, size_t forward) |
| | Set the chassis up/forward axis indices (0 = X, 1 = Y, 2 = Z).
|
| R3Status | r3DynamicRayCastVehicleController_SetWheelControls (struct R3DynamicRayCastVehicleController *controller, size_t index, R3Real steering, R3Real engine_force, R3Real brake) |
| | Set a wheel engine force, brake force, and steering angle in radians.
|
| R3Status | r3DynamicRayCastVehicleController_UpdateVehicle (struct R3DynamicRayCastVehicleController *controller, R3Real dt, const struct R3QueryOptions *options) |
| | Ray-cast wheel contacts and apply vehicle forces for dt seconds.
|
| R3Real | r3DynamicRayCastVehicleController_CurrentVehicleSpeed (const struct R3DynamicRayCastVehicleController *controller) |
| | Return signed chassis speed along its forward direction.
|
| size_t | r3DynamicRayCastVehicleController_Wheels (const struct R3DynamicRayCastVehicleController *controller, struct R3WheelState *buffer, size_t capacity) |
| | Copy current wheel state in wheel insertion order.
|
| R3Status | r3RigidBodyPropagateModifiedBodyPositionsToColliders (struct R3World *world) |
| | Propagate all modified body poses to attached colliders.
|
| size_t | r3ActiveRigidBodies (const struct R3World *world, struct R3RigidBodyHandle *buffer, size_t capacity) |
| | Copies the island manager's active body handles.
|
| R3Status | r3RigidBody_WakeUp (struct R3RigidBodyHandle handle, R3Bool strong) |
| | Wake a body by handle, including a soft-body cluster proxy.
|
| struct R3ErrorHandler | r3SetErrorHandler (struct R3ErrorHandler handler) |
| | Replace this thread's error handler and return the previous handler so it can be restored at the end of a scope.
|
| R3Status | r3LastStatus (void) |
| | Status of the most recent fallible operation on this thread.
|
| const char * | r3LastError (void) |
| | Thread-local UTF-8 diagnostic, valid until the next fallible call on this thread.
|
| R3SharedShape * | r3BallSharedShape (R3Real radius) |
| | Create an owned ball shape.
|
| R3SharedShape * | r3CuboidSharedShape (struct R3Vector half_extents) |
| | Create an owned cuboid shape.
|
| R3SharedShape * | r3RoundCuboidSharedShape (struct R3Vector half_extents, R3Real border_radius) |
| | Create an owned round cuboid shape.
|
| R3SharedShape * | r3CapsuleSharedShape (struct R3Vector a, struct R3Vector b, R3Real radius) |
| | Create an owned capsule shape.
|
| R3SharedShape * | r3SegmentSharedShape (struct R3Vector a, struct R3Vector b) |
| | Create an owned segment shape.
|
| R3SharedShape * | r3TriangleSharedShape (struct R3Vector a, struct R3Vector b, struct R3Vector c) |
| | Create an owned triangle shape.
|
| R3SharedShape * | r3HalfspaceSharedShape (struct R3Vector normal) |
| | Create an owned halfspace shape.
|
| R3SharedShape * | r3CylinderSharedShape (R3Real half_height, R3Real radius) |
| | Create an owned cylinder shape.
|
| R3SharedShape * | r3ConeSharedShape (R3Real half_height, R3Real radius) |
| | Create an owned cone shape.
|
| R3SharedShape * | r3CompoundSharedShape (struct R3CompoundShapeView children) |
| | Create an owned compound shape; each child pose is relative to the compound.
|
| R3Status | r3RemoveCollider (struct R3ColliderHandle handle, R3Bool wake_up) |
| | Remove the collider and update its parent body mass properties.
|
| R3Status | r3RemoveImpulseJoint (struct R3ImpulseJointHandle handle, R3Bool wake_up) |
| | Remove an impulse joint.
|
| size_t | r3ImpulseJointHandles (const struct R3World *world, struct R3ImpulseJointHandle *buffer, size_t capacity) |
| | Copy entity handles.
|
| R3Status | r3RemoveMultibodyJoint (struct R3MultibodyJointHandle handle, R3Bool wake_up) |
| | Remove an articulation joint.
|
| size_t | r3MultibodyJointHandles (const struct R3World *world, struct R3MultibodyJointHandle *buffer, size_t capacity) |
| | Copy entity handles.
|
| struct R3JointBodies | r3ImpulseJoint_Bodies (struct R3ImpulseJointHandle handle) |
| | Return the two bodies connected by an impulse joint.
|
| struct R3InverseKinematicsOptions | r3DefaultInverseKinematicsOptions (void) |
| | Return native default inverse kinematics options.
|
| size_t | r3MultibodyJoint_Ndofs (struct R3MultibodyJointHandle handle) |
| | Return the degrees of freedom of the whole multibody containing the joint (not of the joint alone), including the free root of a dynamic multibody.
|
| R3Status | r3MultibodyJoint_InverseKinematics (struct R3MultibodyJointHandle handle, const struct R3InverseKinematicsOptions *options, struct R3Pose target, R3IkJointCanMove can_move, void *user_data, R3Real *displacements, size_t count) |
| | Read/write displacement buffer must contain exactly ndofs entries; zero it for a fresh solve.
|
| R3Status | r3MultibodyJoint_ApplyDisplacements (struct R3MultibodyJointHandle handle, const R3Real *displacements, size_t count) |
| | Apply generalized articulation displacements in native degree-of-freedom order.
|
| R3Status | r3FreeSharedShape (R3SharedShape *object) |
| | Frees an owned object; NULL is allowed.
|
| R3SharedShape * | r3SharedShape_Clone (const R3SharedShape *object) |
| | Create an owned wrapper sharing the same immutable geometry.
|
| size_t | r3RigidBodyCount (const struct R3World *world) |
| | Return the number of rigid body objects in the world.
|
| size_t | r3RigidBodyHandles (const struct R3World *world, struct R3RigidBodyHandle *buffer, size_t capacity) |
| | Copy entity handles.
|
| R3Bool | r3RigidBody_Contains (struct R3RigidBodyHandle handle) |
| | Test whether the live world contains this rigid body handle.
|
| size_t | r3ColliderCount (const struct R3World *world) |
| | Return the number of collider objects in the world.
|
| size_t | r3ColliderHandles (const struct R3World *world, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy entity handles.
|
| R3Bool | r3Collider_Contains (struct R3ColliderHandle handle) |
| | Test whether the live world contains this collider handle.
|
| size_t | r3SoftBodyCount (const struct R3World *world) |
| | Return the number of soft body objects in the world.
|
| size_t | r3SoftBodyHandles (const struct R3World *world, struct R3SoftBodyHandle *buffer, size_t capacity) |
| | Copy entity handles.
|
| R3Bool | r3SoftBody_Contains (struct R3SoftBodyHandle handle) |
| | Test whether the live world contains this soft body handle.
|
| R3Status | r3RemoveRigidBody (struct R3RigidBodyHandle handle, R3Bool remove_attached_colliders) |
| | Remove a body and its joints, optionally keeping colliders as standalone objects.
|
| R3Real | r3TimeStep (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::dt.
|
| R3Status | r3SetTimeStep (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::dt.
|
| R3Real | r3MinCcdDt (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::minCcdDt.
|
| R3Status | r3SetMinCcdDt (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::minCcdDt.
|
| R3Real | r3LengthUnit (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::lengthUnit.
|
| R3Status | r3SetLengthUnit (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::lengthUnit.
|
| R3Real | r3WarmstartCoefficient (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::warmstartCoefficient.
|
| R3Status | r3SetWarmstartCoefficient (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::warmstartCoefficient.
|
| R3Real | r3NormalizedAllowedLinearError (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::normalizedAllowedLinearError.
|
| R3Status | r3SetNormalizedAllowedLinearError (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::normalizedAllowedLinearError.
|
| R3Real | r3NormalizedMaxCorrectiveVelocity (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::normalizedMaxCorrectiveVelocity.
|
| R3Status | r3SetNormalizedMaxCorrectiveVelocity (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::normalizedMaxCorrectiveVelocity.
|
| R3Real | r3NormalizedPredictionDistance (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::normalizedPredictionDistance.
|
| R3Status | r3SetNormalizedPredictionDistance (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::normalizedPredictionDistance.
|
| R3Real | r3NormalizedMaxLinearVelocity (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::normalizedMaxLinearVelocity.
|
| R3Status | r3SetNormalizedMaxLinearVelocity (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::normalizedMaxLinearVelocity.
|
| R3Real | r3NormalizedContactRecycleDistance (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::normalizedContactRecycleDistance.
|
| R3Status | r3SetNormalizedContactRecycleDistance (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3IntegrationParameters::normalizedContactRecycleDistance.
|
| size_t | r3NumSolverIterations (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::numSolverIterations.
|
| R3Status | r3SetNumSolverIterations (struct R3World *world, size_t value) |
| | Set the world setting documented by R3IntegrationParameters::numSolverIterations.
|
| size_t | r3NumInternalPgsIterations (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::numInternalPgsIterations.
|
| R3Status | r3SetNumInternalPgsIterations (struct R3World *world, size_t value) |
| | Set the world setting documented by R3IntegrationParameters::numInternalPgsIterations.
|
| size_t | r3NumInternalStabilizationIterations (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::numInternalStabilizationIterations.
|
| R3Status | r3SetNumInternalStabilizationIterations (struct R3World *world, size_t value) |
| | Set the world setting documented by R3IntegrationParameters::numInternalStabilizationIterations.
|
| size_t | r3MaxCcdSubsteps (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::maxCcdSubsteps.
|
| R3Status | r3SetMaxCcdSubsteps (struct R3World *world, size_t value) |
| | Set the world setting documented by R3IntegrationParameters::maxCcdSubsteps.
|
| R3Bool | r3ContactClustering (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::contactClustering.
|
| R3Status | r3SetContactClustering (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3IntegrationParameters::contactClustering.
|
| R3Bool | r3ContactRecycling (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::contactRecycling.
|
| R3Status | r3SetContactRecycling (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3IntegrationParameters::contactRecycling.
|
| R3Bool | r3FrictionInBiasPass (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::frictionInBiasPass.
|
| R3Status | r3SetFrictionInBiasPass (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3IntegrationParameters::frictionInBiasPass.
|
| R3Bool | r3WarmstartJoints (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::warmstartJoints.
|
| R3Status | r3SetWarmstartJoints (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3IntegrationParameters::warmstartJoints.
|
| struct R3SpringCoefficients | r3ContactSoftness (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::contactSoftness.
|
| R3Status | r3SetContactSoftness (struct R3World *world, struct R3SpringCoefficients value) |
| | Set the world setting documented by R3IntegrationParameters::contactSoftness.
|
| struct R3SpringCoefficients | r3StaticContactSoftness (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::staticContactSoftness.
|
| R3Status | r3SetStaticContactSoftness (struct R3World *world, struct R3SpringCoefficients value) |
| | Set the world setting documented by R3IntegrationParameters::staticContactSoftness.
|
| R3Status | r3ContactModificationContext_UpdateAsOnewayPlatform (struct R3ContactModificationContext *context, struct R3Vector allowed_local_n1, R3Real allowed_angle) |
| | Applies Rapier's persistent one-way platform logic to the borrowed manifold.
|
| R3Status | r3ContactModificationContext_SetTangentVelocity (struct R3ContactModificationContext *context, struct R3Vector velocity) |
| | Sets the tangent velocity of every rigid solver contact in this manifold.
|
| struct R3EventCollector * | r3NewEventCollector (void) |
| | Allocate an empty event collector; release it with r3FreeEventCollector.
|
| R3Status | r3FreeEventCollector (struct R3EventCollector *events) |
| | Release an owned event collector.
|
| R3Status | r3EventCollector_Clear (struct R3EventCollector *events) |
| | Discard all collected events.
|
| size_t | r3EventCollector_CollisionEvents (const struct R3EventCollector *events, struct R3CollisionEvent *buffer, size_t capacity) |
| | Copy the collision start/stop events collected since the last clear, without removing them.
|
| size_t | r3EventCollector_ContactForceEvents (const struct R3EventCollector *events, struct R3ContactForceEvent *buffer, size_t capacity) |
| | Copy the contact-force events collected since the last clear, without removing them.
|
| size_t | r3EventCollector_TearEventCount (const struct R3EventCollector *events) |
| | Return the number of soft-body tear events collected since the last clear.
|
| struct R3SoftBodyTearEvent * | r3EventCollector_TearEvent (const struct R3EventCollector *events, size_t index) |
| | Return an owned copy of a queued tear event; release with r3FreeSoftBodyTearEvent.
|
| struct R3Vector | r3Gravity (const struct R3World *world) |
| | Return the world-space gravitational acceleration.
|
| R3Status | r3SetGravity (struct R3World *world, struct R3Vector value) |
| | Set the world-space gravitational acceleration.
|
| R3Status | r3Step (struct R3World *world, const struct R3PhysicsHooks *hooks, const struct R3EventCollector *events) |
| | Advance simulation by one timestep.
|
| R3Status | r3DetectCollisions (struct R3World *world, const struct R3PhysicsHooks *hooks, const struct R3EventCollector *events) |
| | Refresh collision detection without advancing simulation.
|
| struct R3ByteView | r3Bytes_Data (const struct R3Bytes *bytes) |
| | Borrow snapshot bytes without copying; valid until r3FreeBytes.
|
| R3Status | r3FreeBytes (struct R3Bytes *bytes) |
| | Release an owned snapshot byte buffer.
|
| struct R3Bytes * | r3SerializeWorld (const struct R3World *world) |
| | Return owned snapshot bytes; release them with r3FreeBytes.
|
| struct R3World * | r3DeserializeWorld (const uint8_t *data, size_t count) |
| | Restore ONLY trusted snapshots produced by the identical Rapier build.
|
| size_t | r3DebugRender (const struct R3World *world, uint32_t mode, struct R3DebugLine *buffer, size_t capacity) |
| | Copy the debug-render lines of the world with the default style.
|
| R3Status | r3SoftBodiesSetResweepStrain (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3SoftBodiesSettings::resweepStrain.
|
| R3Real | r3SoftBodiesResweepStrain (const struct R3World *world) |
| | Return the world setting documented by R3SoftBodiesSettings::resweepStrain.
|
| R3Status | r3SoftBodiesSetContactStiffening (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3SoftBodiesSettings::contactStiffening.
|
| R3Real | r3SoftBodiesContactStiffening (const struct R3World *world) |
| | Return the world setting documented by R3SoftBodiesSettings::contactStiffening.
|
| R3Status | r3SoftBodiesSetMaxExtraSubsteps (struct R3World *world, size_t value) |
| | Set the world setting documented by R3SoftBodiesSettings::maxExtraSubsteps.
|
| size_t | r3SoftBodiesMaxExtraSubsteps (const struct R3World *world) |
| | Return the world setting documented by R3SoftBodiesSettings::maxExtraSubsteps.
|
| R3Status | r3RecoverySetAuthoredVelocityMargin (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::authoredVelocityMargin.
|
| R3Status | r3RecoverySetEdgeSpeculation (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::edgeSpeculation.
|
| R3Status | r3RecoverySetInvertedCellDetection (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::invertedCellDetection.
|
| R3Status | r3RecoverySetSelfCrossingDetection (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::selfCrossingDetection.
|
| R3Status | r3RecoverySetDetectionMotionGating (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::detectionMotionGating.
|
| R3Status | r3RecoverySetCrossBodyDetection (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::crossBodyDetection.
|
| R3Status | r3RecoverySetSelfStandDown (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::selfStandDown.
|
| R3Status | r3RecoverySetCrossBodyExpelGate (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::crossBodyExpelGate.
|
| R3Status | r3RecoverySetEdgeStandDown (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::edgeStandDown.
|
| R3Status | r3RecoverySetCrossingRepulsion (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::crossingRepulsion.
|
| R3Status | r3RecoverySetCrossingRepulsionGuide (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::crossingRepulsionGuide.
|
| R3Status | r3RecoverySetCrossingRepulsionSelfGuide (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::crossingRepulsionSelfGuide.
|
| R3Status | r3RecoverySetRecoveryPace (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3SoftRecoverySettings::recoveryPace.
|
| R3Status | r3RecoverySetOverlapConstraints (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapConstraints.
|
| R3Status | r3RecoverySetOverlapRigid (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapRigid.
|
| R3Status | r3RecoverySetOverlapSkipSelfTangled (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapSkipSelfTangled.
|
| R3Status | r3RecoverySetOverlapEdgeStandDown (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapEdgeStandDown.
|
| R3Status | r3RecoverySetOverlapConstraintPace (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapConstraintPace.
|
| R3Status | r3RecoverySetOverlapSkinVolume (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapSkinVolume.
|
| R3Status | r3RecoverySetOverlapKeptDepth (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapKeptDepth.
|
| R3Status | r3RecoverySetOverlapSelfRegions (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapSelfRegions.
|
| R3Status | r3RecoverySetOverlapNormalPush (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapNormalPush.
|
| R3Status | r3RecoverySetOverlapMultiVolume (struct R3World *world, R3Bool value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapMultiVolume.
|
| R3Status | r3RecoverySetOverlapProgressMargin (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapProgressMargin.
|
| R3Status | r3FemSetLinearTolerance (struct R3World *world, R3Real value) |
| | Set the world setting documented by R3SoftFemParameters::linearTolerance.
|
| R3Status | r3FemSetMaxLinearIterations (struct R3World *world, size_t value) |
| | Set the world setting documented by R3SoftFemParameters::maxLinearIterations.
|
| R3Status | r3FemSetMaxDenseDofs (struct R3World *world, size_t value) |
| | Set the world setting documented by R3SoftFemParameters::maxDenseDofs.
|
| R3Status | r3SetNumThreads (struct R3World *world, size_t num_threads) |
| | Configures a dedicated pool for this world's parallel work.
|
| R3Status | r3ClearThreadPool (struct R3World *world) |
| | Removes the world's dedicated pool.
|
| size_t | r3NumThreads (const struct R3World *world) |
| | Size of the world's dedicated pool, or zero if a parallel build has no dedicated pool configured.
|
| R3Status | r3SetCountersEnabled (struct R3World *world, R3Bool enabled) |
| | Enable or disable the native pipeline profiling counters.
|
| double | r3StepTimeMs (const struct R3World *world) |
| | Native engine time of the most recent step, in milliseconds, as in the Rust testbed.
|
| struct R3World * | r3DeserializeRigidState (const uint8_t *data, size_t count) |
| | Read ONLY trusted legacy rigid-world snapshots from debug_deserialize3.rs, produced by the identical Rapier build.
|
| struct R3QueryFilter | r3DefaultQueryFilter (void) |
| | Return native default query filter.
|
| struct R3ShapeCastOptions | r3DefaultShapeCastOptions (void) |
| | Return native default shape cast options.
|
| R3Status | r3RemoveSoftBody (struct R3SoftBodyHandle handle) |
| | Remove a soft body and its associated simulation objects.
|
| R3Status | r3SoftBody_WakeUp (struct R3SoftBodyHandle handle) |
| | Wake the soft body and its rigid proxies.
|
| R3Status | r3FreeSoftBodyTearEvent (struct R3SoftBodyTearEvent *event) |
| | Release an owned soft body tear event.
|
| struct R3SoftBodyHandle | r3SoftBodyTearEvent_SoftBody (const struct R3SoftBodyTearEvent *event) |
| | Return the source soft-body handle for this tear event.
|
| size_t | r3SoftBodyTearEvent_Bodies (const struct R3SoftBodyTearEvent *event, struct R3SoftBodyHandle *buffer, size_t capacity) |
| | Copy the soft bodies the torn body is in after the tear, the one keeping the handle first: the torn body alone when nothing was split off.
|
| struct R3ParticleDestination | r3SoftBodyTearEvent_ParticleDestination (const struct R3SoftBodyTearEvent *event, uint32_t particle) |
| | Return the destination body and particle index for an original particle.
|
| size_t | r3SoftBodyTearEvent_TornEdges (const struct R3SoftBodyTearEvent *event, uint32_t *buffer, size_t capacity) |
| | Flat indices; element arity follows the corresponding Rust event field.
|
| size_t | r3SoftBodyTearEvent_TornCells (const struct R3SoftBodyTearEvent *event, uint32_t *buffer, size_t capacity) |
| | Flat indices; element arity follows the corresponding Rust event field.
|
| size_t | r3SoftBodyTearEvent_RemovedEdges (const struct R3SoftBodyTearEvent *event, uint32_t *buffer, size_t capacity) |
| | Flat indices; element arity follows the corresponding Rust event field.
|
| size_t | r3SoftBodyTearEvent_SplitParticles (const struct R3SoftBodyTearEvent *event, uint32_t *buffer, size_t capacity) |
| | Flat indices; element arity follows the corresponding Rust event field.
|
| size_t | r3SoftBodyTearEvent_InsertedParticles (const struct R3SoftBodyTearEvent *event, uint32_t *buffer, size_t capacity) |
| | Flat indices; element arity follows the corresponding Rust event field.
|
| size_t | r3SoftBodyTearEvent_PieceParticles (const struct R3SoftBodyTearEvent *event, size_t piece_index, uint32_t *buffer, size_t capacity) |
| | Copy the particles of the piece_index-th body of r3SoftBodyTearEvent_Bodies, as indices in the torn body after the tear (the indices the other event fields use); entry i is the piece's particle i.
|
| size_t | r3SoftBodyTearEvent_Clusters (const struct R3SoftBodyTearEvent *event, struct R3SoftClusterSplit *buffer, size_t capacity) |
| | Copy cluster-to-piece and rigid-proxy remapping records.
|
| size_t | r3SoftBodyTearEvent_MovedJoints (const struct R3SoftBodyTearEvent *event, struct R3SoftJointMove *buffer, size_t capacity) |
| | Copy impulse-joint remapping records produced by the tear.
|
| struct R3SoftBodyTearEvent * | r3SoftBody_Tear (struct R3SoftBodyHandle handle, const uint32_t *edges, size_t edge_count, const uint32_t *cells, size_t cell_count) |
| | Tear the selected edges and return an owned remapping event.
|
| uint32_t | r3SoftBody_AddCluster (struct R3SoftBodyHandle handle, const uint32_t *particles, size_t count) |
| | Create a rigid proxy cluster from the supplied particle indices and return its cluster index.
|
| R3Status | r3SoftBody_RemoveCluster (struct R3SoftBodyHandle handle, uint32_t cluster) |
| | Remove the selected cluster and its rigid proxy.
|
| struct R3OptionalParticleDestination | r3SoftBodyTearEvent_TryParticleDestination (const struct R3SoftBodyTearEvent *event, uint32_t particle) |
| | Optional particle destination after a tear.
|
| struct R3SoftBodyTearEvent * | r3CutSoftBody (struct R3SoftBodyHandle handle, const struct R3Vector *blade) |
| | Cut using DIM points (a segment in 2D, triangle in 3D).
|
| struct R3VolumeMeshParameters | r3NewVolumeMeshParameters (R3Real cell_size) |
| | Return volume-meshing settings for the supplied cell size; this POD value requires no destructor.
|
| struct R3BuildInfo | r3BuildInfo (void) |
| | Return ABI version, dimension, scalar size, and pointer size of the linked library.
|
| const char * | r3Version (void) |
| | Release version of the loaded C bindings, e.g.
|
| const char * | r3BuildProfile (void) |
| | Cargo profile of the loaded physics library: "debug" or "release".
|
| struct R3BuildFeatures | r3BuildFeatures (void) |
| | Return profiling, SIMD width, parallelism, and determinism of the linked library.
|
| R3SharedShape * | r3HeightfieldSharedShape (struct R3RealView heights, size_t rows, size_t columns, struct R3Vector scale) |
| | Create an owned heightfield shape from copied samples.
|
| struct R3Aabb | r3SharedShape_ComputeAabb (const R3SharedShape *shape, struct R3Pose pose) |
| | Compute the shape axis-aligned bounds at the supplied world-space pose.
|
| struct R3MassProperties | r3SharedShape_MassProperties (const R3SharedShape *shape, R3Real density) |
| | Compute local mass properties for the supplied nonnegative density.
|
| R3Bool | r3SharedShape_ContainsPoint (const R3SharedShape *shape, struct R3Pose pose, struct R3Vector point) |
| | Test whether the world-space point lies inside the shape at pose.
|
| size_t | r3ContactPairs (const struct R3World *world, struct R3ContactPair *buffer, size_t capacity) |
| | Copy current narrow-phase contact pairs, including pairs without active solver contacts.
|
| struct R3ContactPair | r3ContactPair (struct R3ColliderHandle collider1, struct R3ColliderHandle collider2) |
| | Return the narrow-phase contact pair for two colliders, or report R3_NOT_FOUND.
|
| size_t | r3IntersectionPairs (const struct R3World *world, struct R3IntersectionPair *buffer, size_t capacity) |
| | Copy current sensor intersection pairs from the narrow phase.
|
| size_t | r3ContactPoints (struct R3ColliderHandle collider1, struct R3ColliderHandle collider2, struct R3ContactPoint *buffer, size_t capacity) |
| | Contact points in collider-local space; normal in world space.
|
| size_t | r3MultibodyJoint_GeneralizedVelocity (struct R3MultibodyJointHandle handle, R3Real *buffer, size_t capacity) |
| | Copy the articulation generalized velocities in native degree-of-freedom order.
|
| R3Status | r3MultibodyJoint_SetGeneralizedVelocity (struct R3MultibodyJointHandle handle, const R3Real *values, size_t count) |
| | Replace articulation generalized velocities; the array length must match its degrees of freedom.
|
| R3Status | r3CheckAbi (uint32_t version, uint32_t dimension, size_t real_size, size_t vector_size, size_t pose_size, uint32_t features) |
| | Check that the header matches the linked library before passing any structure across the ABI.
|
| size_t | r3QuarantinedRigidBodies (const struct R3World *world, struct R3RigidBodyHandle *buffer, size_t capacity) |
| | Copy the rigid bodies quarantined by the most recent Step because their pose or velocity became non-finite (NaN or infinite).
|
| size_t | r3QuarantinedColliders (const struct R3World *world, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy the colliders quarantined by the most recent Step because their own pose or shape became non-finite, independently of their parent.
|
| size_t | r3QuarantinedSoftBodies (const struct R3World *world, struct R3SoftBodyHandle *buffer, size_t capacity) |
| | Copy the soft bodies quarantined by the most recent Step because a particle position or velocity became non-finite.
|
| uint32_t | r3FrictionModel (const struct R3World *world) |
| | Return the world setting documented by R3IntegrationParameters::frictionModel.
|
| R3Status | r3SetFrictionModel (struct R3World *world, uint32_t value) |
| | Set the world setting documented by R3IntegrationParameters::frictionModel.
|
| R3Real | r3Sin (R3Real x) |
| | Sine of an angle in radians, computed by Rapier's math backend.
|
| R3Real | r3Cos (R3Real x) |
| | Cosine of an angle in radians, computed by Rapier's math backend.
|
| R3Real | r3Tan (R3Real x) |
| | Tangent of an angle in radians, computed by Rapier's math backend.
|
| R3Real | r3Asin (R3Real x) |
| | Arcsine in radians, computed by Rapier's math backend.
|
| R3Real | r3Acos (R3Real x) |
| | Arccosine in radians, computed by Rapier's math backend.
|
| R3Real | r3Atan2 (R3Real y, R3Real x) |
| | Angle in radians of the point (x, y), in [-pi, pi], computed by Rapier's math backend.
|
| R3Real | r3Exp (R3Real x) |
| | Exponential e^x, computed by Rapier's math backend.
|
| R3Real | r3Ln (R3Real x) |
| | Natural logarithm, computed by Rapier's math backend.
|
| R3Real | r3Powf (R3Real base, R3Real exponent) |
| | base raised to the power exponent, computed by Rapier's math backend.
|
| struct R3ShapeMesh * | r3SharedShape_Tessellate (const R3SharedShape *shape, uint32_t subdivisions) |
| | Return owned local-space rendering geometry; release it with r3FreeShapeMesh.
|
| size_t | r3ShapeMesh_Triangles (const struct R3ShapeMesh *mesh, struct R3Vector *buffer, size_t capacity) |
| | Flat groups of three vertices.
|
| size_t | r3ShapeMesh_Lines (const struct R3ShapeMesh *mesh, struct R3Vector *buffer, size_t capacity) |
| | Flat groups of two vertices.
|
| R3Status | r3FreeShapeMesh (struct R3ShapeMesh *mesh) |
| | Release an owned shape mesh.
|
| R3SharedShape * | r3RoundCylinderSharedShape (R3Real half_height, R3Real radius, R3Real border_radius) |
| | Create an owned round cylinder shape.
|
| R3SharedShape * | r3RoundConeSharedShape (R3Real half_height, R3Real radius, R3Real border_radius) |
| | Create an owned round cone shape.
|
| struct R3TriMeshData * | r3SharedShape_ToTrimesh (const R3SharedShape *shape, uint32_t ntheta, uint32_t nphi) |
| | Tessellate a ball or capsule with independent longitude/latitude subdivision counts.
|
| size_t | r3TriMeshData_Vertices (const struct R3TriMeshData *mesh, struct R3Vector *buffer, size_t capacity) |
| | Copy vertices.
|
| size_t | r3TriMeshData_Indices (const struct R3TriMeshData *mesh, uint32_t *buffer, size_t capacity) |
| | Flat triangle indices; count and capacity are numbers of u32 entries.
|
| R3Status | r3FreeTriMeshData (struct R3TriMeshData *mesh) |
| | Release an owned tri mesh data.
|
| struct R3Pose | r3RigidBody_Position (struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space pose.
|
| struct R3Vector | r3RigidBody_Translation (struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space translation.
|
| struct R3Vector | r3RigidBody_Linvel (struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space linear velocity.
|
| R3AngVector | r3RigidBody_Angvel (struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space angular velocity (radians per second).
|
| R3Bool | r3RigidBody_IsSleeping (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is sleeping.
|
| R3Bool | r3RigidBody_IsEnabled (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is enabled.
|
| struct R3UserData | r3RigidBody_UserData (struct R3RigidBodyHandle handle) |
| | Return the rigid body application-owned 128-bit user value.
|
| R3Status | r3RigidBody_SetPosition (struct R3RigidBodyHandle handle, struct R3Pose value, R3Bool wake_up) |
| | Set the rigid body world-space pose.
|
| R3Status | r3RigidBody_SetTranslation (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Set the rigid body world-space translation.
|
| R3Status | r3RigidBody_SetLinvel (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Set the rigid body world-space linear velocity.
|
| R3Status | r3RigidBody_SetAngvel (struct R3RigidBodyHandle handle, R3AngVector value, R3Bool wake_up) |
| | Set the rigid body world-space angular velocity (radians per second).
|
| R3Status | r3RigidBody_SetNextKinematicPosition (struct R3RigidBodyHandle handle, struct R3Pose value) |
| | Set the rigid body next kinematic world-space pose.
|
| R3Status | r3RigidBody_SetNextKinematicTranslation (struct R3RigidBodyHandle handle, struct R3Vector value) |
| | Set the rigid body next kinematic world-space translation.
|
| R3Status | r3RigidBody_SetGravityScale (struct R3RigidBodyHandle handle, R3Real value, R3Bool wake_up) |
| | Set the rigid body gravity multiplier.
|
| R3Status | r3RigidBody_SetLinearDamping (struct R3RigidBodyHandle handle, R3Real value) |
| | Set the rigid body linear damping coefficient.
|
| R3Status | r3RigidBody_SetAngularDamping (struct R3RigidBodyHandle handle, R3Real value) |
| | Set the rigid body angular damping coefficient.
|
| R3Status | r3RigidBody_SetEnabled (struct R3RigidBodyHandle handle, R3Bool value) |
| | Enable or disable the rigid body.
|
| R3Status | r3RigidBody_SetUserData (struct R3RigidBodyHandle handle, struct R3UserData value) |
| | Set the rigid body application-owned 128-bit user value.
|
| R3Status | r3RigidBody_ApplyImpulse (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Apply a world-space linear impulse.
|
| R3Status | r3RigidBody_ApplyImpulseAtPoint (struct R3RigidBodyHandle handle, struct R3Vector value, struct R3Vector point, R3Bool wake_up) |
| | Apply a world-space impulse at a world-space point.
|
| R3Status | r3RigidBody_AddForce (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Accumulate a world-space force; it persists until reset.
|
| R3Status | r3RigidBody_ResetForces (struct R3RigidBodyHandle handle, R3Bool wake_up) |
| | Clear accumulated user forces.
|
| R3Status | r3RigidBody_Sleep (struct R3RigidBodyHandle handle) |
| | Put the body to sleep.
|
| struct R3Pose | r3Collider_Position (struct R3ColliderHandle handle) |
| | Return the collider world-space pose.
|
| struct R3Vector | r3Collider_Translation (struct R3ColliderHandle handle) |
| | Return the collider world-space translation.
|
| R3Real | r3Collider_Friction (struct R3ColliderHandle handle) |
| | Return the collider friction coefficient.
|
| R3Real | r3Collider_Restitution (struct R3ColliderHandle handle) |
| | Return the collider restitution coefficient.
|
| R3Bool | r3Collider_IsSensor (struct R3ColliderHandle handle) |
| | Return whether the collider is a sensor (detects overlaps without contact forces).
|
| struct R3RigidBodyHandle | r3Collider_Parent (struct R3ColliderHandle handle) |
| | Return the parent body handle, or an invalid handle with OK status for a standalone collider.
|
| R3Status | r3Collider_SetPosition (struct R3ColliderHandle handle, struct R3Pose value) |
| | Set the collider world-space pose.
|
| R3Status | r3Collider_SetTranslation (struct R3ColliderHandle handle, struct R3Vector value) |
| | Set the collider world-space translation.
|
| R3Status | r3Collider_SetFriction (struct R3ColliderHandle handle, R3Real value) |
| | Set the collider friction coefficient.
|
| R3Status | r3Collider_SetRestitution (struct R3ColliderHandle handle, R3Real value) |
| | Set the collider restitution coefficient.
|
| R3Status | r3Collider_SetSensor (struct R3ColliderHandle handle, R3Bool value) |
| | Enable or disable a sensor (detects overlaps without contact forces) for the collider.
|
| R3Status | r3Collider_SetCollisionGroups (struct R3ColliderHandle handle, struct R3InteractionGroups value) |
| | Set the collider collision filtering groups.
|
| R3Status | r3Collider_SetUserData (struct R3ColliderHandle handle, struct R3UserData value) |
| | Set the collider application-owned 128-bit user value.
|
| struct R3Vector | r3SoftBody_ParticlePosition (struct R3SoftBodyHandle handle, size_t index) |
| | Return the world-space position of the indexed particle.
|
| size_t | r3SoftBody_ParticlePositions (struct R3SoftBodyHandle handle, struct R3Vector *buffer, size_t capacity) |
| | Copy world-space particle positions.
|
| struct R3SoftBodyMaterial | r3SoftBody_Material (struct R3SoftBodyHandle handle) |
| | Return a copy of the soft body material parameters.
|
| R3Status | r3SoftBody_SetParticlePosition (struct R3SoftBodyHandle handle, size_t index, struct R3Vector value) |
| | Set the world-space position of the indexed particle.
|
| R3Status | r3SoftBody_SetMaterial (struct R3SoftBodyHandle handle, const struct R3SoftBodyMaterial *data) |
| | Copy material parameters into the soft body.
|
| R3Status | r3SoftBody_AddParticleForce (struct R3SoftBodyHandle handle, size_t index, struct R3Vector value, R3Bool wake_up) |
| | Add a world-space force to the indexed particle.
|
| size_t | r3RigidBodyReadStates (const struct R3World *world, const struct R3RigidBodyHandle *handles, size_t handle_count, struct R3RigidBodyState *states, size_t capacity) |
| | Copies states in the same order as handles, without allocating temporary storage.
|
| struct R3JointDesc | r3ImpulseJoint_Desc (struct R3ImpulseJointHandle handle) |
| | Copies joint configuration without returning a borrowed joint pointer.
|
| R3Status | r3ImpulseJoint_SetDesc (struct R3ImpulseJointHandle handle, const struct R3JointDesc *desc, R3Bool wake_up) |
| | Replaces configuration after validation, resetting cached limit/motor impulses.
|
| uint16_t | r3Collider_ActiveCollisionTypes (struct R3ColliderHandle handle) |
| | Return the collider body-type collision activation bitmask (R3_COLLISION_TYPES_* bits).
|
| uint32_t | r3Collider_ActiveHooks (struct R3ColliderHandle handle) |
| | Return the collider physics-hook activation bitmask.
|
| uint32_t | r3Collider_FrictionCombineRule (struct R3ColliderHandle handle) |
| | Return the collider friction combination rule (R3_COMBINE_*).
|
| uint32_t | r3Collider_RestitutionCombineRule (struct R3ColliderHandle handle) |
| | Return the collider restitution combination rule (R3_COMBINE_*).
|
| struct R3Pose | r3Collider_PositionWrtParent (struct R3ColliderHandle handle) |
| | Return the collider pose relative to its parent rigid body, or its world-space pose if it has no parent.
|
| int8_t | r3RigidBody_DominanceGroup (struct R3RigidBodyHandle handle) |
| | Return the rigid body signed dominance group.
|
| size_t | r3RigidBody_AdditionalSolverIterations (struct R3RigidBodyHandle handle) |
| | Return the rigid body additional solver iterations for connected bodies.
|
| size_t | r3RigidBody_AdditionalPgsIterations (struct R3RigidBodyHandle handle) |
| | Return the rigid body additional PGS iterations for connected bodies.
|
| R3Bool | r3RigidBody_IsFastRotationAllowed (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body may exceed the angular-velocity limit of its CCD.
|
| R3Status | r3Collider_SetRotation (struct R3ColliderHandle handle, struct R3Rotation value) |
| | Set the collider world-space rotation.
|
| R3Status | r3RigidBody_SetAllowFastRotation (struct R3RigidBodyHandle handle, R3Bool value) |
| | Allow or disallow the rigid body to exceed the angular-velocity limit of its CCD (e.g.
|
| R3Status | r3ShapeDesc_SetTrimesh (struct R3ShapeDesc *desc, struct R3VectorView vertices, struct R3TriangleView indices, uint32_t flags) |
| | Replace the shape geometry with a borrowed tri mesh.
|
| R3Status | r3ShapeDesc_SetPolyline (struct R3ShapeDesc *desc, struct R3VectorView vertices, struct R3EdgeView indices, uint32_t flags) |
| | Replace the shape geometry with a borrowed polyline.
|
| R3Status | r3ShapeDesc_SetConvexHull (struct R3ShapeDesc *desc, struct R3VectorView vertices) |
| | Replace the shape geometry with a borrowed convex hull point cloud.
|
| R3Status | r3SoftBodyDesc_SetParticles (struct R3SoftBodyDesc *desc, struct R3VectorView positions) |
| | Select an explicit particle recipe and borrow its positions.
|
| R3Status | r3SoftBodyDesc_SetSurfaceMesh (struct R3SoftBodyDesc *desc, struct R3VectorView vertices, R3SurfaceElementView elements) |
| | Select a surface recipe and borrow its vertices and elements.
|
| R3Status | r3SoftBodyDesc_SetAppended (struct R3SoftBodyDesc *desc, struct R3SoftBodyDescView view) |
| | Borrow descriptions to merge into this body (see R3SoftBodyDesc::appended); preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetAddedEdges (struct R3SoftBodyDesc *desc, struct R3EdgeView view) |
| | Borrow structural edges added after appending (see R3SoftBodyDesc::addedEdges); preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetSkin (struct R3SoftBodyDesc *desc, struct R3VectorView vertices, R3SurfaceElementView elements) |
| | Borrow skin geometry.
|
| R3Status | r3SoftBodyDesc_SetMasses (struct R3SoftBodyDesc *desc, struct R3RealView view) |
| | Borrow masses; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetPinnedParticles (struct R3SoftBodyDesc *desc, struct R3IndexView view) |
| | Borrow pinned particles; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetEdges (struct R3SoftBodyDesc *desc, struct R3EdgeView view) |
| | Borrow edges; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetBendEdges (struct R3SoftBodyDesc *desc, struct R3EdgeView view) |
| | Borrow bend edges; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetCells (struct R3SoftBodyDesc *desc, R3CellView view) |
| | Borrow cells; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetSurface (struct R3SoftBodyDesc *desc, R3SurfaceElementView view) |
| | Borrow surface; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetTensionOnlyEdges (struct R3SoftBodyDesc *desc, struct R3IndexView view) |
| | Borrow tension only edges; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetDihedrals (struct R3SoftBodyDesc *desc, struct R3DihedralView view) |
| | Borrow dihedrals; preserve all other fields.
|
| R3Status | r3SoftBodyDesc_SetWire (struct R3SoftBodyDesc *desc, struct R3EdgeView view) |
| | Borrow wire; preserve all other fields.
|
| struct R3ColliderDesc | r3RoundCuboidColliderDesc (struct R3Vector half_extents, R3Real border_radius) |
| | Return a rounded box description; half_extents exclude the added border_radius.
|
| struct R3ColliderDesc | r3CapsuleColliderDesc (struct R3Vector a, struct R3Vector b, R3Real radius) |
| | Return a capsule description with segment endpoints a/b and the supplied radius.
|
| struct R3ColliderDesc | r3SegmentColliderDesc (struct R3Vector a, struct R3Vector b) |
| | Return a segment description with endpoints a and b.
|
| struct R3ColliderDesc | r3TriangleColliderDesc (struct R3Vector a, struct R3Vector b, struct R3Vector c) |
| | Return a triangle description with vertices a, b, and c.
|
| struct R3ColliderDesc | r3HalfspaceColliderDesc (struct R3Vector normal) |
| | Return a half-space description bounded by a plane through the origin; normal points outward.
|
| struct R3ColliderDesc | r3CylinderColliderDesc (R3Real half_height, R3Real radius) |
| | Return a Y-aligned cylinder description with the supplied half-height and radius.
|
| struct R3ColliderDesc | r3ConeColliderDesc (R3Real half_height, R3Real radius) |
| | Return a Y-aligned cone description with the supplied half-height and base radius.
|
| struct R3ColliderDesc | r3RoundCylinderColliderDesc (R3Real half_height, R3Real radius, R3Real border_radius) |
| | Return a rounded Y-aligned cylinder description; dimensions exclude border_radius.
|
| struct R3ColliderDesc | r3RoundConeColliderDesc (R3Real half_height, R3Real radius, R3Real border_radius) |
| | Return a rounded Y-aligned cone description; dimensions exclude border_radius.
|
| struct R3ColliderDesc | r3CapsuleXColliderDesc (R3Real half_height, R3Real radius) |
| | Return a X-aligned capsule description; half_height is half the segment length, excluding caps.
|
| struct R3ColliderDesc | r3CapsuleYColliderDesc (R3Real half_height, R3Real radius) |
| | Return a Y-aligned capsule description; half_height is half the segment length, excluding caps.
|
| struct R3ColliderDesc | r3CapsuleZColliderDesc (R3Real half_height, R3Real radius) |
| | Return a Z-aligned capsule description; half_height is half the segment length, excluding caps.
|
| struct R3SoftBodyDesc | r3RopeSoftBodyDesc (struct R3Vector a, struct R3Vector b, size_t particles) |
| | Return a rope recipe with particles evenly spaced from a to b, including both endpoints.
|
| struct R3SoftBodyDesc | r3CuboidSoftBodyDesc (struct R3Vector center, struct R3Vector half_extents, size_t nx, size_t ny, size_t nz) |
| | Return a solid box recipe on an nx by ny by nz particle grid, subdivided into tetrahedra.
|
| struct R3SoftBodyDesc | r3ClothSoftBodyDesc (struct R3Vector origin, struct R3Vector du, struct R3Vector dv, size_t nu, size_t nv) |
| | Return a cloth recipe with nu by nv particles at origin + i * du + j * dv.
|
| struct R3SoftBodyDesc | r3ClothAnisotropicSoftBodyDesc (struct R3Vector origin, struct R3Vector du, struct R3Vector dv, size_t nu, size_t nv, struct R3SpringCoefficients warp, struct R3SpringCoefficients weft, struct R3SpringCoefficients shear) |
| | Return a cloth recipe like r3ClothSoftBodyDesc whose edges along du (warp), along dv (weft) and diagonal (shear) get their own softness; the material's bendSoftness still applies to the bending edges.
|
| struct R3SoftBodyDesc | r3SphereSoftBodyDesc (struct R3Vector center, R3Real radius, uint32_t subdivisions) |
| | Return a hollow icosphere recipe with the specified refinement levels and volume preservation.
|
| struct R3SoftBodyDesc | r3ClothTubeSoftBodyDesc (struct R3Vector origin, struct R3Vector axis, R3Real radius_start, R3Real radius_end, size_t num_around, size_t num_along) |
| | Return a cloth tube recipe from origin to origin + axis with num_along rings of num_around particles; radius varies linearly between the ends.
|
| struct R3SoftBodyDesc | r3VolumetricSoftBodyDesc (struct R3VectorView vertices, R3SurfaceElementView surface, struct R3VolumeMeshParameters parameters) |
| | Initializes a borrowed meshing recipe.
|
| struct R3SoftBodyMaterial | r3UniformSoftBodyMaterial (struct R3SpringCoefficients value) |
| | Returns a material with the same softness for each constraint family.
|
| size_t | r3SoftBodyDesc_ParticlePositions (const struct R3SoftBodyDesc *desc, struct R3Vector *buffer, size_t capacity) |
| | Copies generated particle positions into caller-owned storage; no persistent builder.
|
| size_t | r3SoftBodyDesc_CellIndices (const struct R3SoftBodyDesc *desc, uint32_t *buffer, size_t capacity) |
| | Copies generated cell indices into caller-owned storage.
|
| struct R3Vector | r3SoftBody_ParticleVelocity (struct R3SoftBodyHandle handle, size_t index) |
| | Return the world-space velocity of the indexed particle.
|
| uint32_t | r3SoftBody_Solver (struct R3SoftBodyHandle handle) |
| | Return the solver simulating the soft body's elasticity (R3_SOFT_SOLVER_*).
|
| R3Status | r3SoftBody_SetClusterEdgeSoftness (struct R3SoftBodyHandle handle, uint32_t cluster, const struct R3SpringCoefficients *softness) |
| | Override the softness of every structural or bending edge fully contained in a live cluster: regional stiffness for cloth and ropes.
|
| R3Status | r3SoftBody_ApplyImpulseAtPoint (struct R3SoftBodyHandle handle, struct R3Vector impulse, struct R3Vector point, R3Real falloff_radius, R3Bool wake_up) |
| | Apply a world-space impulse to every free particle within falloff_radius of the world-space point, scaled linearly from 1 at the point to 0 at that radius and divided by the particle's mass.
|
| R3Status | r3SoftBody_ApplyRadialImpulse (struct R3SoftBodyHandle handle, struct R3Vector center, R3Real magnitude, R3Real falloff_radius, R3Bool wake_up) |
| | Apply an impulse of the given magnitude pointing away from the world-space center to every free particle within falloff_radius, scaled linearly from 1 at the center to 0 at that radius and divided by the particle's mass.
|
| R3Status | r3SoftBody_ResetPlasticity (struct R3SoftBodyHandle handle) |
| | Undo every permanent (plastic) deformation: edge rest lengths, dihedral rest angles, cell rest shapes and particle rest positions return to their creation state.
|
| R3Status | r3SoftBody_TearEdge (struct R3SoftBodyHandle handle, size_t index) |
| | Mark the indexed edge as torn.
|
| R3Status | r3SoftBody_TearCell (struct R3SoftBodyHandle handle, size_t index) |
| | Mark the indexed cell as torn.
|
| struct R3SoftBodyHandle | r3Collider_SoftBody (struct R3ColliderHandle handle) |
| | Return the soft body owning this deformable collider (a soft-body collision mesh), or an invalid handle for any other collider.
|
| struct R3SoftBodyHandle | r3ReadCollider_SoftBody (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the soft body owning this deformable collider, or an invalid handle for any other collider.
|
| size_t | r3SoftBodyTearEvent_PieceCount (const struct R3SoftBodyTearEvent *event) |
| | Return the number of soft bodies the torn body is in after the tear: the length of r3SoftBodyTearEvent_Bodies, and the exclusive bound of the piece_index of r3SoftBodyTearEvent_PieceParticles.
|
| R3Bool | r3RecoveryAuthoredVelocityMargin (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::authoredVelocityMargin.
|
| R3Bool | r3RecoveryEdgeSpeculation (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::edgeSpeculation.
|
| R3Bool | r3RecoveryInvertedCellDetection (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::invertedCellDetection.
|
| R3Bool | r3RecoverySelfCrossingDetection (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::selfCrossingDetection.
|
| R3Bool | r3RecoveryDetectionMotionGating (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::detectionMotionGating.
|
| R3Bool | r3RecoveryCrossBodyDetection (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::crossBodyDetection.
|
| R3Bool | r3RecoverySelfStandDown (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::selfStandDown.
|
| R3Bool | r3RecoveryCrossBodyExpelGate (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::crossBodyExpelGate.
|
| R3Bool | r3RecoveryEdgeStandDown (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::edgeStandDown.
|
| R3Bool | r3RecoveryCrossingRepulsion (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::crossingRepulsion.
|
| R3Bool | r3RecoveryCrossingRepulsionGuide (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::crossingRepulsionGuide.
|
| R3Bool | r3RecoveryCrossingRepulsionSelfGuide (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::crossingRepulsionSelfGuide.
|
| R3Real | r3RecoveryRecoveryPace (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::recoveryPace.
|
| R3Bool | r3RecoveryOverlapConstraints (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapConstraints.
|
| R3Bool | r3RecoveryOverlapRigid (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapRigid.
|
| R3Bool | r3RecoveryOverlapSkipSelfTangled (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapSkipSelfTangled.
|
| R3Bool | r3RecoveryOverlapEdgeStandDown (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapEdgeStandDown.
|
| R3Real | r3RecoveryOverlapConstraintPace (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapConstraintPace.
|
| uint32_t | r3RecoveryOverlapPatchConstraints (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapPatchConstraints.
|
| R3Status | r3RecoverySetOverlapPatchConstraints (struct R3World *world, uint32_t value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapPatchConstraints.
|
| R3Bool | r3RecoveryOverlapSkinVolume (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapSkinVolume.
|
| R3Real | r3RecoveryOverlapKeptDepth (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapKeptDepth.
|
| R3Bool | r3RecoveryOverlapSelfRegions (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapSelfRegions.
|
| R3Bool | r3RecoveryOverlapNormalPush (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapNormalPush.
|
| R3Bool | r3RecoveryOverlapMultiVolume (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapMultiVolume.
|
| uint32_t | r3RecoveryOverlapSplit (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapSplit.
|
| R3Status | r3RecoverySetOverlapSplit (struct R3World *world, uint32_t value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapSplit.
|
| uint32_t | r3RecoveryOverlapPatience (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapPatience.
|
| R3Status | r3RecoverySetOverlapPatience (struct R3World *world, uint32_t value) |
| | Set the world setting documented by R3SoftRecoverySettings::overlapPatience.
|
| R3Real | r3RecoveryOverlapProgressMargin (const struct R3World *world) |
| | Return the world setting documented by R3SoftRecoverySettings::overlapProgressMargin.
|
| R3Real | r3FemLinearTolerance (const struct R3World *world) |
| | Return the world setting documented by R3SoftFemParameters::linearTolerance.
|
| size_t | r3FemMaxLinearIterations (const struct R3World *world) |
| | Return the world setting documented by R3SoftFemParameters::maxLinearIterations.
|
| size_t | r3FemMaxDenseDofs (const struct R3World *world) |
| | Return the world setting documented by R3SoftFemParameters::maxDenseDofs.
|
| size_t | r3Collider_ShapeIdentity (struct R3ColliderHandle handle) |
| | Return a process-local geometry identity for caching, not a serializable ID.
|
| size_t | r3SoftBody_NumParticles (struct R3SoftBodyHandle handle) |
| | Return the soft body particle count.
|
| uint32_t | r3SoftBody_TopologyVersion (struct R3SoftBodyHandle handle) |
| | Return a counter that changes when particle connectivity changes; use it to invalidate mesh caches.
|
| R3Real | r3SoftBody_Mass (struct R3SoftBodyHandle handle) |
| | Return the soft body mass.
|
| R3Real | r3SoftBody_Volume (struct R3SoftBodyHandle handle) |
| | Return the soft body current volume.
|
| R3Real | r3SoftBody_RestVolume (struct R3SoftBodyHandle handle) |
| | Return the soft body undeformed volume.
|
| R3Real | r3SoftBody_VolumeFactor (struct R3SoftBodyHandle handle) |
| | Return the soft body target volume multiplier.
|
| struct R3Vector | r3SoftBody_CenterOfMass (struct R3SoftBodyHandle handle) |
| | Return the soft body world-space center of mass.
|
| struct R3RigidBodyHandle | r3SoftBody_RootBody (struct R3SoftBodyHandle handle) |
| | Return the soft body root rigid-proxy handle.
|
| R3Bool | r3SoftBody_IsEnabled (struct R3SoftBodyHandle handle) |
| | Return whether the soft body is enabled.
|
| R3Bool | r3SoftBody_IsSleeping (struct R3SoftBodyHandle handle) |
| | Return whether the soft body is sleeping.
|
| size_t | r3SoftBody_ParticleVelocities (struct R3SoftBodyHandle handle, struct R3Vector *buffer, size_t capacity) |
| | Copy world-space particle velocities.
|
| size_t | r3SoftBody_Edges (struct R3SoftBodyHandle handle, uint32_t *buffer, size_t capacity) |
| | Copy flattened edge vertex indices.
|
| size_t | r3SoftBody_Cells (struct R3SoftBodyHandle handle, uint32_t *buffer, size_t capacity) |
| | Copy flattened cell vertex indices.
|
| size_t | r3SoftBody_Boundary (struct R3SoftBodyHandle handle, uint32_t *buffer, size_t capacity) |
| | Copy flattened boundary element indices.
|
| size_t | r3SoftBody_Pieces (struct R3SoftBodyHandle handle, struct R3SoftBodyHandle *buffer, size_t capacity) |
| | Copy piece identifiers.
|
| R3Status | r3SoftBody_SetParticleVelocity (struct R3SoftBodyHandle handle, size_t index, struct R3Vector value) |
| | Set the soft body particle world-space velocity.
|
| R3Status | r3SoftBody_SetParticleKinematicTarget (struct R3SoftBodyHandle handle, size_t index, struct R3Vector value) |
| | Set the next world-space target position of a pinned particle.
|
| R3Status | r3SoftBody_SetParticlePinned (struct R3SoftBodyHandle handle, size_t index, R3Bool value) |
| | Enable or disable pinning the particle for the soft body.
|
| R3Status | r3SoftBody_ApplyParticleImpulse (struct R3SoftBodyHandle handle, size_t index, struct R3Vector value, R3Bool wake_up) |
| | Apply a world-space impulse to one particle.
|
| R3Status | r3SoftBody_AddForce (struct R3SoftBodyHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Accumulate a world-space force; it persists until reset.
|
| R3Status | r3SoftBody_ApplyImpulse (struct R3SoftBodyHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Add the same world-space velocity change to every free particle: the whole body is kicked at the same velocity, whatever the particle masses (the value is not divided by the mass).
|
| R3Status | r3SoftBody_ResetForces (struct R3SoftBodyHandle handle, R3Bool wake_up) |
| | Clear accumulated user forces.
|
| R3Status | r3SoftBody_SetEnabled (struct R3SoftBodyHandle handle, R3Bool value) |
| | Enable or disable the soft body.
|
| R3Status | r3SoftBody_SetVolumeFactor (struct R3SoftBodyHandle handle, R3Real value) |
| | Set the soft body target volume multiplier.
|
| R3Status | r3SoftBody_AttachParticle (struct R3SoftBodyHandle handle, size_t index, struct R3RigidBodyHandle rigid_body) |
| | Attach a particle to a rigid body by a two-way point-to-point constraint (unlike pinning).
|
| R3Bool | r3SoftBody_DetachParticle (struct R3SoftBodyHandle handle, size_t index) |
| | Detach a particle from every rigid body it was attached to with r3SoftBody_AttachParticle.
|
| size_t | r3SoftBody_Clusters (struct R3SoftBodyHandle handle, uint32_t *buffer, size_t capacity) |
| | Copy cluster indices.
|
| struct R3RigidBodyHandle | r3SoftBody_ClusterProxy (struct R3SoftBodyHandle handle, uint32_t cluster) |
| | Return the rigid proxy for the selected cluster.
|
| size_t | r3SoftBody_ClusterParticles (struct R3SoftBodyHandle handle, uint32_t cluster, uint32_t *buffer, size_t capacity) |
| | Copy particle indices for a cluster.
|
| R3Status | r3SoftBody_SetClusterPinned (struct R3SoftBodyHandle handle, uint32_t cluster, R3Bool value) |
| | Enable or disable pinning the cluster for the soft body.
|
| R3Status | r3SoftBody_SetClusterKinematicTarget (struct R3SoftBodyHandle handle, uint32_t cluster, struct R3Pose value) |
| | Set the next world-space target pose of a pinned cluster.
|
| R3Status | r3SoftBody_SetClusterShapeMatchingEnabled (struct R3SoftBodyHandle handle, uint32_t cluster, R3Bool value) |
| | Enable or disable using cluster shape matching for the soft body.
|
| R3Status | r3SoftBody_SetClusterStiffnessScale (struct R3SoftBodyHandle handle, uint32_t cluster, R3Real value) |
| | Scale the material stiffness (Young modulus) of every cell fully contained in a live cluster: regional materials without a separate body.
|
| R3Status | r3SoftBody_SetClusterTearResistance (struct R3SoftBodyHandle handle, uint32_t cluster, R3Real value) |
| | Set the soft body cluster tear-resistance multiplier.
|
| size_t | r3SoftBody_Meshes (struct R3SoftBodyHandle handle, struct R3SoftMeshInfo *buffer, size_t capacity) |
| | Copy collision mesh metadata.
|
| size_t | r3SoftBody_MeshVerticesById (struct R3SoftBodyHandle handle, struct R3SoftMeshId id, struct R3Vector *buffer, size_t capacity) |
| | Copy world-space vertices for a mesh ID.
|
| size_t | r3SoftBody_MeshIndicesById (struct R3SoftBodyHandle handle, struct R3SoftMeshId id, uint32_t *buffer, size_t capacity) |
| | Copy flattened indices for a mesh ID.
|
| size_t | r3SoftBody_MeshColliders (struct R3SoftBodyHandle handle, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy collision mesh collider handles.
|
| size_t | r3SoftBody_MeshVertices (struct R3SoftBodyHandle handle, struct R3ColliderHandle collider, struct R3Vector *buffer, size_t capacity) |
| | Copy world-space collision mesh vertices.
|
| size_t | r3SoftBody_MeshIndices (struct R3SoftBodyHandle handle, struct R3ColliderHandle collider, uint32_t *buffer, size_t capacity) |
| | Copy flattened collision mesh indices.
|
| size_t | r3SoftBody_MeshArity (struct R3SoftBodyHandle handle, struct R3ColliderHandle collider) |
| | Return indices per collision-mesh element (2 for segments, 3 for triangles).
|
| uint32_t | r3SoftBody_MeshTopologyVersion (struct R3SoftBodyHandle handle, struct R3ColliderHandle collider) |
| | Return the selected collision mesh topology revision for cache invalidation.
|
| R3Status | r3SoftBody_SetSolver (struct R3SoftBodyHandle handle, uint32_t solver) |
| | Set the soft body soft solver kind (R3_SOFT_SOLVER_*).
|
| R3Status | r3SoftBody_SetClusterShapeMatchingTarget (struct R3SoftBodyHandle handle, uint32_t cluster, const struct R3Pose *target) |
| | Set the soft body cluster shape-matching target pose.
|
| R3Status | r3SoftBody_SetEdgeTearResistance (struct R3SoftBodyHandle handle, size_t index, R3Real resistance) |
| | Set the soft body edge tear-resistance multiplier.
|
| R3Bool | r3SoftBody_MeshIsClosed (struct R3SoftBodyHandle handle, struct R3ColliderHandle collider) |
| | Return whether the selected collision mesh is closed.
|
| R3Status | r3RigidBody_SetAdditionalMassProperties (struct R3RigidBodyHandle handle, struct R3MassProperties properties, R3Bool wake_up) |
| | Set the rigid body local mass properties added to collider contributions.
|
| R3Status | r3RigidBody_RecomputeMassPropertiesFromColliders (struct R3RigidBodyHandle handle) |
| | Recompute body mass and inertia from attached colliders and additional mass properties.
|
| R3Status | r3Collider_SetMassProperties (struct R3ColliderHandle handle, struct R3MassProperties properties) |
| | Set the collider local mass properties.
|
| struct R3MassProperties | r3Collider_MassProperties (struct R3ColliderHandle handle) |
| | Return the collider local mass properties.
|
| R3Status | r3RigidBody_SetLockedAxes (struct R3RigidBodyHandle handle, uint8_t axes, R3Bool wake_up) |
| | Set the rigid body translation/rotation lock bitmask.
|
| uint8_t | r3RigidBody_LockedAxes (struct R3RigidBodyHandle handle) |
| | Return the rigid body translation/rotation lock bitmask.
|
| R3Bool | r3Collider_IsVoxels (struct R3ColliderHandle handle) |
| | Return whether the collider is a voxel shape.
|
| struct R3VoxelQuery | r3Collider_VoxelAtFlatId (struct R3ColliderHandle handle, uint32_t id) |
| | Return voxel information at a flat index; found = 0 if absent.
|
| R3Status | r3Collider_SetVoxel (struct R3ColliderHandle handle, struct R3VoxelKey key, R3Bool filled) |
| | Fill or clear the voxel at key; the collider must have a voxel shape.
|
| struct R3Pose | r3RigidBody_NextPosition (struct R3RigidBodyHandle handle) |
| | Return the rigid body next kinematic world-space pose.
|
| struct R3Rotation | r3RigidBody_Rotation (struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space rotation.
|
| struct R3Vector | r3RigidBody_CenterOfMass (struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space center of mass.
|
| struct R3Vector | r3RigidBody_LocalCenterOfMass (struct R3RigidBodyHandle handle) |
| | Return the rigid body body-local center of mass.
|
| struct R3Vector | r3RigidBody_UserForce (struct R3RigidBodyHandle handle) |
| | Return the rigid body accumulated user-applied world-space force.
|
| R3AngVector | r3RigidBody_UserTorque (struct R3RigidBodyHandle handle) |
| | Return the rigid body accumulated user-applied world-space torque.
|
| uint32_t | r3RigidBody_BodyType (struct R3RigidBodyHandle handle) |
| | Return the rigid body body type (R3_DYNAMIC, R3_FIXED, or a kinematic kind).
|
| R3Real | r3RigidBody_Mass (struct R3RigidBodyHandle handle) |
| | Return the rigid body mass.
|
| R3Real | r3RigidBody_GravityScale (struct R3RigidBodyHandle handle) |
| | Return the rigid body gravity multiplier.
|
| R3Real | r3RigidBody_LinearDamping (struct R3RigidBodyHandle handle) |
| | Return the rigid body linear damping coefficient.
|
| R3Real | r3RigidBody_AngularDamping (struct R3RigidBodyHandle handle) |
| | Return the rigid body angular damping coefficient.
|
| R3Real | r3RigidBody_KineticEnergy (struct R3RigidBodyHandle handle) |
| | Return the rigid body kinetic energy.
|
| R3Real | r3RigidBody_SoftCcdPrediction (struct R3RigidBodyHandle handle) |
| | Return the rigid body soft-CCD prediction distance.
|
| R3Bool | r3RigidBody_IsCcdEnabled (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is using continuous collision detection.
|
| R3Bool | r3RigidBody_IsDynamic (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is dynamic.
|
| struct R3SoftBodyHandle | r3RigidBody_SoftBody (struct R3RigidBodyHandle handle) |
| | Return the associated soft-body handle, or an invalid handle if this is not a soft proxy.
|
| R3Bool | r3RigidBody_IsSoftFrame (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is a soft-body proxy.
|
| R3Bool | r3RigidBody_IsFixed (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is fixed.
|
| R3Bool | r3RigidBody_IsKinematic (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is kinematic.
|
| R3Bool | r3RigidBody_IsMoving (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is moving.
|
| R3Bool | r3RigidBody_IsCcdActive (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is currently using CCD for its motion.
|
| R3Status | r3RigidBody_SetRotation (struct R3RigidBodyHandle handle, struct R3Rotation value, R3Bool wake_up) |
| | Set the rigid body world-space rotation.
|
| R3Status | r3RigidBody_SetBodyType (struct R3RigidBodyHandle handle, uint32_t value, R3Bool wake_up) |
| | Set the rigid body body type (R3_DYNAMIC, R3_FIXED, or a kinematic kind).
|
| R3Status | r3RigidBody_SetNextKinematicRotation (struct R3RigidBodyHandle handle, struct R3Rotation value) |
| | Set the rigid body next kinematic world-space rotation.
|
| R3Status | r3RigidBody_SetAdditionalMass (struct R3RigidBodyHandle handle, R3Real value, R3Bool wake_up) |
| | Set the rigid body mass added to collider contributions.
|
| R3Status | r3RigidBody_SetSoftCcdPrediction (struct R3RigidBodyHandle handle, R3Real value) |
| | Set the rigid body soft-CCD prediction distance.
|
| R3Status | r3RigidBody_SetCcdEnabled (struct R3RigidBodyHandle handle, R3Bool value) |
| | Enable or disable using continuous collision detection for the rigid body.
|
| R3Status | r3RigidBody_SetTranslationsLocked (struct R3RigidBodyHandle handle, R3Bool value, R3Bool wake_up) |
| | Enable or disable locking translation for the rigid body.
|
| R3Status | r3RigidBody_SetRotationsLocked (struct R3RigidBodyHandle handle, R3Bool value, R3Bool wake_up) |
| | Enable or disable locking rotation for the rigid body.
|
| R3Status | r3RigidBody_SetDominanceGroup (struct R3RigidBodyHandle handle, int8_t value) |
| | Set the rigid body signed dominance group.
|
| R3Status | r3RigidBody_SetAdditionalSolverIterations (struct R3RigidBodyHandle handle, size_t value) |
| | Set the rigid body additional solver iterations for connected bodies.
|
| R3Status | r3RigidBody_SetAdditionalPgsIterations (struct R3RigidBodyHandle handle, size_t value) |
| | Set the rigid body additional PGS iterations.
|
| R3Status | r3RigidBody_AddTorque (struct R3RigidBodyHandle handle, R3AngVector value, R3Bool wake_up) |
| | Accumulate a world-space torque; it persists until reset.
|
| R3Status | r3RigidBody_ApplyTorqueImpulse (struct R3RigidBodyHandle handle, R3AngVector value, R3Bool wake_up) |
| | Apply a world-space angular impulse.
|
| R3Status | r3RigidBody_AddForceAtPoint (struct R3RigidBodyHandle handle, struct R3Vector value, struct R3Vector point, R3Bool wake_up) |
| | Accumulate a world-space force applied at a world-space point.
|
| R3Status | r3RigidBody_ResetTorques (struct R3RigidBodyHandle handle, R3Bool wake_up) |
| | Clear accumulated user torques.
|
| struct R3Vector | r3RigidBody_VelocityAtPoint (struct R3RigidBodyHandle handle, struct R3Vector point) |
| | Return world-space velocity at a world-space point, including angular motion.
|
| size_t | r3RigidBody_Colliders (struct R3RigidBodyHandle handle, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy attached collider handles.
|
| R3Bool | r3RigidBody_GyroscopicForcesEnabled (struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is using gyroscopic forces.
|
| R3Status | r3RigidBody_SetGyroscopicForcesEnabled (struct R3RigidBodyHandle handle, R3Bool enabled) |
| | Enable or disable using gyroscopic forces for the rigid body.
|
| R3Status | r3Collider_SetDensity (struct R3ColliderHandle handle, R3Real value) |
| | Set the collider mass per unit volume.
|
| R3Status | r3Collider_SetMass (struct R3ColliderHandle handle, R3Real value) |
| | Set the collider mass.
|
| R3Status | r3Collider_SetEnabled (struct R3ColliderHandle handle, R3Bool value) |
| | Enable or disable the collider.
|
| R3Status | r3Collider_SetSolverGroups (struct R3ColliderHandle handle, struct R3InteractionGroups value) |
| | Set the collider contact-force filtering groups.
|
| R3Status | r3Collider_SetFrictionCombineRule (struct R3ColliderHandle handle, uint32_t value) |
| | Set the collider friction combination rule (R3_COMBINE_*).
|
| R3Status | r3Collider_SetRestitutionCombineRule (struct R3ColliderHandle handle, uint32_t value) |
| | Set the collider restitution combination rule (R3_COMBINE_*).
|
| R3Status | r3Collider_SetContactSkin (struct R3ColliderHandle handle, R3Real value) |
| | Set the collider extra separation skin around the shape.
|
| R3Status | r3Collider_SetContactForceEventThreshold (struct R3ColliderHandle handle, R3Real value) |
| | Set the collider force threshold for contact-force events.
|
| R3Status | r3Collider_SetActiveEvents (struct R3ColliderHandle handle, uint32_t value) |
| | Set the collider event-generation bitmask (R3_COLLISION_EVENTS and R3_CONTACT_FORCE_EVENTS).
|
| R3Status | r3Collider_SetActiveHooks (struct R3ColliderHandle handle, uint32_t value) |
| | Set the collider physics-hook activation bitmask.
|
| R3Status | r3Collider_SetActiveCollisionTypes (struct R3ColliderHandle handle, uint16_t value) |
| | Set the collider body-type collision activation bitmask.
|
| struct R3Rotation | r3Collider_Rotation (struct R3ColliderHandle handle) |
| | Return the collider world-space rotation.
|
| struct R3InteractionGroups | r3Collider_CollisionGroups (struct R3ColliderHandle handle) |
| | Return the collider collision filtering groups.
|
| struct R3InteractionGroups | r3Collider_SolverGroups (struct R3ColliderHandle handle) |
| | Return the collider contact-force filtering groups.
|
| struct R3UserData | r3Collider_UserData (struct R3ColliderHandle handle) |
| | Return the collider application-owned 128-bit user value.
|
| uint32_t | r3Collider_ActiveEvents (struct R3ColliderHandle handle) |
| | Return the collider event-generation bitmask (R3_COLLISION_EVENTS and R3_CONTACT_FORCE_EVENTS).
|
| R3Real | r3Collider_Mass (struct R3ColliderHandle handle) |
| | Return the collider mass.
|
| R3Real | r3Collider_Density (struct R3ColliderHandle handle) |
| | Return the collider mass per unit volume.
|
| R3Real | r3Collider_Volume (struct R3ColliderHandle handle) |
| | Return the collider current volume.
|
| R3Real | r3Collider_ContactSkin (struct R3ColliderHandle handle) |
| | Return the collider extra separation skin around the shape.
|
| R3Real | r3Collider_ContactForceEventThreshold (struct R3ColliderHandle handle) |
| | Return the collider force threshold for contact-force events.
|
| R3Bool | r3Collider_IsEnabled (struct R3ColliderHandle handle) |
| | Return whether the collider is enabled.
|
| struct R3Aabb | r3Collider_ComputeAabb (struct R3ColliderHandle handle) |
| | Return the current world-space axis-aligned bounds.
|
| R3SharedShape * | r3Collider_CloneShape (struct R3ColliderHandle handle) |
| | Return an owned wrapper sharing the collider geometry.
|
| R3Status | r3Collider_SetShape (struct R3ColliderHandle handle, const R3SharedShape *shape) |
| | Replace collider geometry by sharing shape; the supplied wrapper is not consumed.
|
| R3Status | r3Collider_SetPositionWrtParent (struct R3ColliderHandle handle, struct R3Pose value) |
| | Set the collider pose relative to the parent rigid body.
|
| R3Status | r3RigidBody_ValidateHandle (struct R3RigidBodyHandle handle) |
| | Validate the index and generation in the live owning world.
|
| R3Status | r3Collider_ValidateHandle (struct R3ColliderHandle handle) |
| | Validate the index and generation in the live owning world.
|
| R3Status | r3SoftBody_ValidateHandle (struct R3SoftBodyHandle handle) |
| | Validate the index and generation in the live owning world.
|
| R3Status | r3JointDesc_SetLocalFrame1 (struct R3JointDesc *desc, struct R3Pose value) |
| | Set the joint desc joint frame relative to body 1.
|
| R3Status | r3ImpulseJoint_SetLocalFrame1 (struct R3ImpulseJointHandle handle, struct R3Pose value, R3Bool wake_up) |
| | Set the impulse joint joint frame relative to body 1.
|
| R3Status | r3JointDesc_SetLocalFrame2 (struct R3JointDesc *desc, struct R3Pose value) |
| | Set the joint desc joint frame relative to body 2.
|
| R3Status | r3ImpulseJoint_SetLocalFrame2 (struct R3ImpulseJointHandle handle, struct R3Pose value, R3Bool wake_up) |
| | Set the impulse joint joint frame relative to body 2.
|
| R3Status | r3JointDesc_SetLocalAnchor1 (struct R3JointDesc *desc, struct R3Vector value) |
| | Set the joint desc joint anchor relative to body 1.
|
| R3Status | r3ImpulseJoint_SetLocalAnchor1 (struct R3ImpulseJointHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Set the impulse joint joint anchor relative to body 1.
|
| R3Status | r3JointDesc_SetLocalAnchor2 (struct R3JointDesc *desc, struct R3Vector value) |
| | Set the joint desc joint anchor relative to body 2.
|
| R3Status | r3ImpulseJoint_SetLocalAnchor2 (struct R3ImpulseJointHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Set the impulse joint joint anchor relative to body 2.
|
| R3Status | r3JointDesc_SetContactsEnabled (struct R3JointDesc *desc, R3Bool value) |
| | Enable or disable allowing contacts between connected bodies for the joint desc.
|
| R3Status | r3ImpulseJoint_SetContactsEnabled (struct R3ImpulseJointHandle handle, R3Bool value, R3Bool wake_up) |
| | Enable or disable allowing contacts between connected bodies for the impulse joint.
|
| R3Status | r3JointDesc_SetEnabled (struct R3JointDesc *desc, R3Bool value) |
| | Enable or disable the joint desc.
|
| R3Status | r3ImpulseJoint_SetEnabled (struct R3ImpulseJointHandle handle, R3Bool value, R3Bool wake_up) |
| | Enable or disable the impulse joint.
|
| R3Status | r3JointDesc_SetSoftness (struct R3JointDesc *desc, struct R3SpringCoefficients value) |
| | Set the joint desc joint spring coefficients.
|
| R3Status | r3ImpulseJoint_SetSoftness (struct R3ImpulseJointHandle handle, struct R3SpringCoefficients value, R3Bool wake_up) |
| | Set the impulse joint joint spring coefficients.
|
| R3Status | r3JointDesc_SetLockedAxes (struct R3JointDesc *desc, uint8_t value) |
| | Set the joint desc translation/rotation lock bitmask.
|
| R3Status | r3ImpulseJoint_SetLockedAxes (struct R3ImpulseJointHandle handle, uint8_t value, R3Bool wake_up) |
| | Set the impulse joint translation/rotation lock bitmask.
|
| R3Status | r3JointDesc_SetLimitAxes (struct R3JointDesc *desc, uint8_t value) |
| | Set the joint desc joint axis mask with limits enabled.
|
| R3Status | r3ImpulseJoint_SetLimitAxes (struct R3ImpulseJointHandle handle, uint8_t value, R3Bool wake_up) |
| | Set the impulse joint joint axis mask with limits enabled.
|
| R3Status | r3JointDesc_SetMotorAxes (struct R3JointDesc *desc, uint8_t value) |
| | Set the joint desc joint axis mask with motors enabled.
|
| R3Status | r3ImpulseJoint_SetMotorAxes (struct R3ImpulseJointHandle handle, uint8_t value, R3Bool wake_up) |
| | Set the impulse joint joint axis mask with motors enabled.
|
| R3Status | r3JointDesc_SetCoupledAxes (struct R3JointDesc *desc, uint8_t value) |
| | Set the joint desc coupled joint axis mask.
|
| R3Status | r3ImpulseJoint_SetCoupledAxes (struct R3ImpulseJointHandle handle, uint8_t value, R3Bool wake_up) |
| | Set the impulse joint coupled joint axis mask.
|
| R3Status | r3JointDesc_SetLocalAxis1 (struct R3JointDesc *desc, struct R3Vector value) |
| | Set the joint desc joint principal axis in body 1 local coordinates.
|
| R3Status | r3ImpulseJoint_SetLocalAxis1 (struct R3ImpulseJointHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Set the impulse joint joint principal axis in body 1 local coordinates.
|
| R3Status | r3JointDesc_SetLocalAxis2 (struct R3JointDesc *desc, struct R3Vector value) |
| | Set the joint desc joint principal axis in body 2 local coordinates.
|
| R3Status | r3ImpulseJoint_SetLocalAxis2 (struct R3ImpulseJointHandle handle, struct R3Vector value, R3Bool wake_up) |
| | Set the impulse joint joint principal axis in body 2 local coordinates.
|
| R3Status | r3JointDesc_SetLimits (struct R3JointDesc *desc, uint32_t joint_axis, R3Real min, R3Real max) |
| | Set the joint desc minimum and maximum limits on an axis (linear distance or angular radians).
|
| R3Status | r3ImpulseJoint_SetLimits (struct R3ImpulseJointHandle handle, uint32_t joint_axis, R3Real min, R3Real max, R3Bool wake_up) |
| | Set the impulse joint minimum and maximum limits on an axis (linear distance or angular radians).
|
| R3Status | r3JointDesc_SetMotor (struct R3JointDesc *desc, uint32_t joint_axis, R3Real target_position, R3Real target_velocity, R3Real stiffness, R3Real damping) |
| | Set the joint desc motor position/velocity targets and spring coefficients on an axis.
|
| R3Status | r3ImpulseJoint_SetMotor (struct R3ImpulseJointHandle handle, uint32_t joint_axis, R3Real target_position, R3Real target_velocity, R3Real stiffness, R3Real damping, R3Bool wake_up) |
| | Set the impulse joint motor position/velocity targets and spring coefficients on an axis.
|
| R3Status | r3JointDesc_SetMotorMaxForce (struct R3JointDesc *desc, uint32_t joint_axis, R3Real max_force) |
| | Set the joint desc maximum motor force or torque on an axis.
|
| R3Status | r3ImpulseJoint_SetMotorMaxForce (struct R3ImpulseJointHandle handle, uint32_t joint_axis, R3Real max_force, R3Bool wake_up) |
| | Set the impulse joint maximum motor force or torque on an axis.
|
| R3Status | r3JointDesc_SetMotorModel (struct R3JointDesc *desc, uint32_t joint_axis, uint32_t model) |
| | Set the joint desc motor model on an axis (0 = acceleration-based, 1 = force-based).
|
| R3Status | r3ImpulseJoint_SetMotorModel (struct R3ImpulseJointHandle handle, uint32_t joint_axis, uint32_t model, R3Bool wake_up) |
| | Set the impulse joint motor model on an axis (0 = acceleration-based, 1 = force-based).
|
| R3Status | r3JointDesc_SetUserData (struct R3JointDesc *desc, struct R3UserData value) |
| | Set the joint desc application-owned 128-bit user value.
|
| R3Status | r3ImpulseJoint_SetUserData (struct R3ImpulseJointHandle handle, struct R3UserData value, R3Bool wake_up) |
| | Set the impulse joint application-owned 128-bit user value.
|
| R3Status | r3JointDesc_SetMotorPosition (struct R3JointDesc *desc, uint32_t joint_axis, R3Real target_position, R3Real stiffness, R3Real damping) |
| | Set the joint desc motor position target and spring coefficients on an axis.
|
| R3Status | r3ImpulseJoint_SetMotorPosition (struct R3ImpulseJointHandle handle, uint32_t joint_axis, R3Real target_position, R3Real stiffness, R3Real damping, R3Bool wake_up) |
| | Set the impulse joint motor position target and spring coefficients on an axis.
|
| R3Status | r3JointDesc_SetMotorVelocity (struct R3JointDesc *desc, uint32_t joint_axis, R3Real target_velocity, R3Real factor) |
| | Set the joint desc motor velocity target and damping factor on an axis.
|
| R3Status | r3ImpulseJoint_SetMotorVelocity (struct R3ImpulseJointHandle handle, uint32_t joint_axis, R3Real target_velocity, R3Real factor, R3Bool wake_up) |
| | Set the impulse joint motor velocity target and damping factor on an axis.
|
| struct R3JointImpulses | r3ImpulseJoint_Impulses (struct R3ImpulseJointHandle handle) |
| | Return the impulses applied by the impulse joint during the last step.
|
| struct R3UserData | r3ImpulseJoint_UserData (struct R3ImpulseJointHandle handle) |
| | Return the impulse joint application-owned 128-bit user value.
|
| size_t | r3ImpulseJointCount (const struct R3World *world) |
| | Return the number of impulse joints in the world.
|
| size_t | r3MultibodyJointCount (const struct R3World *world) |
| | Return the number of multibody joints in the world, which is the number of handles copied by r3MultibodyJointHandles.
|
| struct R3JointDesc | r3MultibodyJoint_Desc (struct R3MultibodyJointHandle handle) |
| | Copies the multibody joint configuration without returning a borrowed joint pointer.
|
| R3Status | r3MultibodyJoint_SetDesc (struct R3MultibodyJointHandle handle, const struct R3JointDesc *desc, R3Bool wake_up) |
| | Replaces the multibody joint configuration after validation.
|
| struct R3JointBodies | r3MultibodyJoint_Bodies (struct R3MultibodyJointHandle handle) |
| | Return the two bodies connected by a multibody joint: its parent link, then its own link.
|
| R3SharedShape * | r3ConvexDecompositionSharedShape (struct R3VectorView vertices, R3SurfaceElementView indices) |
| | Create an owned compound shape by convex decomposition of the input surface.
|
| R3SharedShape * | r3VoxelsSharedShapeFromPoints (struct R3Vector voxel_size, struct R3VectorView points) |
| | Create an owned voxel shape by quantizing points with the supplied per-axis voxel size.
|
| R3SharedShape * | r3VoxelizedMeshSharedShape (struct R3VectorView vertices, R3SurfaceElementView indices, R3Real voxel_size) |
| | Create an owned voxel shape from a surface mesh with the supplied uniform voxel size.
|
| R3SharedShape * | r3ConvexHullSharedShape (struct R3VectorView vertices) |
| | Create an owned convex hull of the supplied vertices.
|
| R3SharedShape * | r3ConvexMeshSharedShape (struct R3VectorView vertices, struct R3TriangleView indices) |
| | Create an owned convex polyhedron from vertices and triangle indices assumed to form a convex mesh (no convex hull is computed); fails on degenerate input.
|
| R3SharedShape * | r3TrimeshSharedShape (struct R3VectorView vertices, struct R3TriangleView indices) |
| | Create an owned triangle mesh from vertices and triangle indices.
|
| R3SharedShape * | r3PolylineSharedShape (struct R3VectorView vertices, struct R3EdgeView indices) |
| | Create an owned polyline from vertices and edge indices.
|
| R3SharedShape * | r3RoundConvexHullSharedShape (struct R3VectorView vertices, R3Real border_radius) |
| | Create an owned round convex hull shape.
|
| R3SharedShape * | r3TrimeshSharedShapeWithFlags (struct R3VectorView vertices, struct R3TriangleView indices, uint32_t flags) |
| | Create an owned triangle mesh with the supplied TRIMESH_* processing flags.
|
| struct R3World * | r3NewWorld (void) |
| | Create an owned world.
|
| R3Status | r3FreeWorld (struct R3World *world) |
| | Free a world.
|
| struct R3VelocityCorrection | r3ReadPidController_RigidBodyCorrection (const struct R3ReadContext *context, struct R3PidController *controller, R3Real dt, struct R3RigidBodyHandle body, struct R3Pose target_pose, struct R3Vector target_linvel, R3AngVector target_angvel) |
| | Compute a velocity correction from callback-visible body state, updating the PID controller history.
|
| struct R3VelocityCorrection | r3ReadPdController_RigidBodyCorrection (const struct R3ReadContext *context, const struct R3PdController *controller, struct R3RigidBodyHandle body, struct R3Pose target_pose, struct R3Vector target_linvel, R3AngVector target_angvel) |
| | Compute a PD velocity correction from callback-visible body state.
|
| size_t | r3ReadRigidBodyCount (const struct R3ReadContext *context) |
| | Return the number of rigid body objects in the world.
|
| size_t | r3ReadRigidBodyHandles (const struct R3ReadContext *context, struct R3RigidBodyHandle *buffer, size_t capacity) |
| | Copy entity handles.
|
| R3Bool | r3ReadRigidBody_Contains (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Test whether the live world contains this rigid body handle.
|
| size_t | r3ReadColliderCount (const struct R3ReadContext *context) |
| | Return the number of collider objects in the world.
|
| size_t | r3ReadColliderHandles (const struct R3ReadContext *context, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy entity handles.
|
| R3Bool | r3ReadCollider_Contains (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Test whether the live world contains this collider handle.
|
| size_t | r3ReadCollider_ShapeIdentity (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return a process-local geometry identity for caching, not a serializable ID.
|
| struct R3MassProperties | r3ReadCollider_MassProperties (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider local mass properties.
|
| uint8_t | r3ReadRigidBody_LockedAxes (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body translation/rotation lock bitmask.
|
| R3Bool | r3ReadCollider_IsVoxels (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return whether the collider is a voxel shape.
|
| struct R3VoxelQuery | r3ReadCollider_VoxelAtFlatId (const struct R3ReadContext *context, struct R3ColliderHandle handle, uint32_t id) |
| | Return voxel information at a flat index; found = 0 if absent.
|
| struct R3Pose | r3ReadRigidBody_NextPosition (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body next kinematic world-space pose.
|
| struct R3Rotation | r3ReadRigidBody_Rotation (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space rotation.
|
| struct R3Vector | r3ReadRigidBody_CenterOfMass (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space center of mass.
|
| struct R3Vector | r3ReadRigidBody_LocalCenterOfMass (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body body-local center of mass.
|
| struct R3Vector | r3ReadRigidBody_UserForce (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body accumulated user-applied world-space force.
|
| R3AngVector | r3ReadRigidBody_UserTorque (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body accumulated user-applied world-space torque.
|
| uint32_t | r3ReadRigidBody_BodyType (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body body type (R3_DYNAMIC, R3_FIXED, or a kinematic kind).
|
| R3Real | r3ReadRigidBody_Mass (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body mass.
|
| R3Real | r3ReadRigidBody_GravityScale (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body gravity multiplier.
|
| R3Real | r3ReadRigidBody_LinearDamping (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body linear damping coefficient.
|
| R3Real | r3ReadRigidBody_AngularDamping (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body angular damping coefficient.
|
| R3Real | r3ReadRigidBody_KineticEnergy (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body kinetic energy.
|
| R3Real | r3ReadRigidBody_SoftCcdPrediction (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body soft-CCD prediction distance.
|
| R3Bool | r3ReadRigidBody_IsCcdEnabled (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is using continuous collision detection.
|
| R3Bool | r3ReadRigidBody_IsDynamic (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is dynamic.
|
| struct R3SoftBodyHandle | r3ReadRigidBody_SoftBody (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the associated soft-body handle, or an invalid handle if this is not a soft proxy.
|
| R3Bool | r3ReadRigidBody_IsSoftFrame (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is a soft-body proxy.
|
| R3Bool | r3ReadRigidBody_IsFixed (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is fixed.
|
| R3Bool | r3ReadRigidBody_IsKinematic (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is kinematic.
|
| R3Bool | r3ReadRigidBody_IsMoving (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is moving.
|
| R3Bool | r3ReadRigidBody_IsCcdActive (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is currently using CCD for its motion.
|
| struct R3Vector | r3ReadRigidBody_VelocityAtPoint (const struct R3ReadContext *context, struct R3RigidBodyHandle handle, struct R3Vector point) |
| | Return world-space velocity at a world-space point, including angular motion.
|
| size_t | r3ReadRigidBody_Colliders (const struct R3ReadContext *context, struct R3RigidBodyHandle handle, struct R3ColliderHandle *buffer, size_t capacity) |
| | Copy attached collider handles.
|
| R3Bool | r3ReadRigidBody_GyroscopicForcesEnabled (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is using gyroscopic forces.
|
| struct R3Rotation | r3ReadCollider_Rotation (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider world-space rotation.
|
| struct R3InteractionGroups | r3ReadCollider_CollisionGroups (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider collision filtering groups.
|
| struct R3InteractionGroups | r3ReadCollider_SolverGroups (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider contact-force filtering groups.
|
| struct R3UserData | r3ReadCollider_UserData (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider application-owned 128-bit user value.
|
| uint32_t | r3ReadCollider_ActiveEvents (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider event-generation bitmask (R3_COLLISION_EVENTS and R3_CONTACT_FORCE_EVENTS).
|
| R3Real | r3ReadCollider_Mass (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider mass.
|
| R3Real | r3ReadCollider_Density (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider mass per unit volume.
|
| R3Real | r3ReadCollider_Volume (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider current volume.
|
| R3Real | r3ReadCollider_ContactSkin (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider extra separation skin around the shape.
|
| R3Real | r3ReadCollider_ContactForceEventThreshold (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider force threshold for contact-force events.
|
| R3Bool | r3ReadCollider_IsEnabled (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return whether the collider is enabled.
|
| struct R3Aabb | r3ReadCollider_ComputeAabb (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the current world-space axis-aligned bounds.
|
| R3SharedShape * | r3ReadCollider_CloneShape (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return an owned wrapper sharing the collider geometry.
|
| R3Status | r3ReadRigidBody_ValidateHandle (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Validate the index and generation in the live owning world.
|
| R3Status | r3ReadCollider_ValidateHandle (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Validate the index and generation in the live owning world.
|
| struct R3Pose | r3ReadRigidBody_Position (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space pose.
|
| struct R3Vector | r3ReadRigidBody_Translation (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space translation.
|
| struct R3Vector | r3ReadRigidBody_Linvel (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space linear velocity.
|
| R3AngVector | r3ReadRigidBody_Angvel (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body world-space angular velocity (radians per second).
|
| R3Bool | r3ReadRigidBody_IsSleeping (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is sleeping.
|
| R3Bool | r3ReadRigidBody_IsEnabled (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body is enabled.
|
| struct R3UserData | r3ReadRigidBody_UserData (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body application-owned 128-bit user value.
|
| struct R3Pose | r3ReadCollider_Position (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider world-space pose.
|
| struct R3Vector | r3ReadCollider_Translation (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider world-space translation.
|
| R3Real | r3ReadCollider_Friction (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider friction coefficient.
|
| R3Real | r3ReadCollider_Restitution (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider restitution coefficient.
|
| R3Bool | r3ReadCollider_IsSensor (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return whether the collider is a sensor (detects overlaps without contact forces).
|
| struct R3RigidBodyHandle | r3ReadCollider_Parent (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Read the parent body handle during a callback; a standalone collider returns an invalid handle with OK status.
|
| size_t | r3ReadRigidBodyReadStates (const struct R3ReadContext *context, const struct R3RigidBodyHandle *handles, size_t handle_count, struct R3RigidBodyState *states, size_t capacity) |
| | Copy callback-visible body states in the supplied handle order.
|
| uint16_t | r3ReadCollider_ActiveCollisionTypes (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider body-type collision activation bitmask (R3_COLLISION_TYPES_* bits).
|
| uint32_t | r3ReadCollider_ActiveHooks (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider physics-hook activation bitmask.
|
| uint32_t | r3ReadCollider_FrictionCombineRule (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider friction combination rule (R3_COMBINE_*).
|
| uint32_t | r3ReadCollider_RestitutionCombineRule (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider restitution combination rule (R3_COMBINE_*).
|
| struct R3Pose | r3ReadCollider_PositionWrtParent (const struct R3ReadContext *context, struct R3ColliderHandle handle) |
| | Return the collider pose relative to its parent rigid body, or its world-space pose if it has no parent.
|
| int8_t | r3ReadRigidBody_DominanceGroup (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body signed dominance group.
|
| size_t | r3ReadRigidBody_AdditionalSolverIterations (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body additional solver iterations for connected bodies.
|
| size_t | r3ReadRigidBody_AdditionalPgsIterations (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return the rigid body additional PGS iterations for connected bodies.
|
| R3Bool | r3ReadRigidBody_IsFastRotationAllowed (const struct R3ReadContext *context, struct R3RigidBodyHandle handle) |
| | Return whether the rigid body may exceed the angular-velocity limit of its CCD.
|
| size_t | r3IntersectRay (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Vector origin, struct R3Vector direction, R3Real max_toi, R3Bool solid, struct R3RayHit *buffer, size_t capacity) |
| | Copy the hits of every collider intersected by the ray, in no particular order.
|
| struct R3OptionalShapeCastHit | r3TryCastShape (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Pose pose, struct R3Vector velocity, const R3SharedShape *shape, struct R3ShapeCastOptions options) |
| | Sweep shape from pose along velocity and return the first hit, with found = 0 on a miss (R3_OK).
|
| struct R3OptionalPointProjection | r3TryProjectPoint (const struct R3World *world, const struct R3QueryOptions *query_options, struct R3Vector point, R3Real max_distance, R3Bool solid) |
| | Return the closest surface projection within max_distance, with found = 0 if there is none (R3_OK).
|
| struct R3Pose | r3NonlinearRigidMotion_PositionAtTime (const struct R3NonlinearRigidMotion *motion, R3Real time) |
| | Return the world-space pose of the motion at the given time.
|
| struct R3OptionalShapeCastHit | r3TryCastShapeNonlinear (const struct R3World *world, const struct R3QueryOptions *query_options, const struct R3NonlinearRigidMotion *motion, const R3SharedShape *shape, R3Real start_time, R3Real end_time, R3Bool stop_at_penetration) |
| | Sweep shape along a rotating motion and return the first hit between start_time and end_time, with found = 0 on a miss (R3_OK).
|
| struct R3OptionalContactPair | r3TryContactPair (struct R3ColliderHandle collider1, struct R3ColliderHandle collider2) |
| | Return the narrow-phase contact pair for two colliders, with found = 0 if the broad phase found no potential contact between them (R3_OK).
|
| struct R3IntersectionPair | r3IntersectionPair (struct R3ColliderHandle collider1, struct R3ColliderHandle collider2) |
| | Return the intersection state of two colliders involving a sensor, or report R3_NOT_FOUND if the broad phase found no potential intersection.
|
| struct R3OptionalIntersectionPair | r3TryIntersectionPair (struct R3ColliderHandle collider1, struct R3ColliderHandle collider2) |
| | Return the intersection state of two colliders involving a sensor, with found = 0 if the broad phase found no potential intersection (R3_OK).
|
| size_t | r3Collider_ContactPairs (struct R3ColliderHandle handle, struct R3ContactPair *buffer, size_t capacity) |
| | Copy the narrow-phase contact pairs involving the collider, including pairs without active solver contacts.
|
| size_t | r3Collider_IntersectionPairs (struct R3ColliderHandle handle, struct R3IntersectionPair *buffer, size_t capacity) |
| | Copy the intersection pairs involving the collider, in the narrow-phase order.
|
| size_t | r3ContactManifolds (struct R3ColliderHandle collider1, struct R3ColliderHandle collider2, struct R3ContactManifold *buffer, size_t capacity) |
| | Copy the geometric contact manifolds of a contact pair, or report R3_NOT_FOUND without a pair.
|
| size_t | r3SolverContacts (struct R3ColliderHandle collider1, struct R3ColliderHandle collider2, size_t manifold_index, struct R3SolverContact *buffer, size_t capacity) |
| | Copy the solver contacts of one manifold of a contact pair, or report R3_NOT_FOUND without a pair.
|
| R3Bool | r3ContactModificationContext_IsSoft (const struct R3ContactModificationContext *context) |
| | Return whether the context holds the contact candidates of two soft surfaces rather than a manifold.
|
| size_t | r3ContactModificationContext_SolverContactCount (const struct R3ContactModificationContext *context) |
| | Return the number of solver contacts of the manifold; zero for a soft context.
|
| struct R3SolverContact | r3ContactModificationContext_SolverContact (const struct R3ContactModificationContext *context, size_t index) |
| | Return a solver contact of the manifold.
|
| R3Status | r3ContactModificationContext_SetSolverContact (struct R3ContactModificationContext *context, size_t index, const struct R3SolverContact *contact) |
| | Replace the points, distance and tangent velocity of a solver contact of the manifold.
|
| R3Status | r3ContactModificationContext_RemoveSolverContact (struct R3ContactModificationContext *context, size_t index) |
| | Remove a solver contact of the manifold.
|
| R3Status | r3EventCollector_SetCallbacks (struct R3EventCollector *events, const struct R3EventCallbacks *callbacks) |
| | Replace the callbacks invoked while stepping with this collector; NULL removes them.
|
| struct R3DebugRenderStyle | r3DefaultDebugRenderStyle (void) |
| | Return native default debug-render style.
|
| size_t | r3DebugRenderWithStyle (const struct R3World *world, uint32_t mode, const struct R3DebugRenderStyle *style, struct R3DebugLine *buffer, size_t capacity) |
| | Copy the debug-render lines of the world drawn with the given style.
|
1.18.0