`tecs.physics.contract`

The batched crossing between Tecs entities and a native rigid-body solver.

One fixed step is one crossing. A frame's systems queue commands through the queue* functions, step applies every queued command and advances the solver once, and the results are read back from buffers the simulation already holds. Nothing here calls a solver once per body, and nothing a solver owns ever calls back into Nupp: a Nupp function reached through a foreign function pointer cannot be entered from a compiled trace or from a thread the Nupp VM never created, so contacts, poses and assigned handles leave through buffers instead.

tecs.physics.rapier implements this over the tecs_physics Rust library. A test supplies its own implementation, which is what lets the entity-facing half of tecs.physics be exercised with no native library present.

Every length here is in solver meters and every angle is in radians. tecs.physics owns the pixel conversion and does not push it across this boundary.

A handle is a one-based index1 plus a generation. Zero index1 names nothing, which is what a snapshot load leaves behind and what a failed creation reports.

Module contents

Types

Type	Kind	Description
`BodyCreate`	record	One body creation, together with the primary collider it always carries.
`ColliderCreate`	record	One secondary collider added to an existing or same-batch body.
`ColliderDef`	record	One collider's geometry, material and collision filtering.
`ColliderUpdate`	record	One in-place collider replacement, addressed by handle or by entity.
`EntityHandles`	record	The body and collider handle owned by each entity a lookup asked about.
`JointCreate`	record	One joint creation between two existing or same-batch bodies.
`Options`	type	Options accepted when a simulation is created.
`Simulation`	record	One live simulation, driven entirely through batched commands.

Values

Value	Kind	Description
`ACTION_FORCE`	variable	Adds a center-of-mass force from a and b.
`ACTION_FORCE_AT`	variable	Adds the force a, b at the world point c, d.
`ACTION_IMPULSE`	variable	Adds a center-of-mass impulse from a and b.
`ACTION_IMPULSE_AT`	variable	Adds the impulse a, b at the world point c, d.
`ACTION_SET_ANGULAR_VELOCITY`	variable	Replaces angular velocity with a.
`ACTION_SET_AWAKE`	variable	Wakes the body when a is nonzero and sleeps it otherwise.
`ACTION_SET_BODY_TYPE`	variable	Replaces the body kind with a, one of the body-kind constants.
`ACTION_SET_ENABLED`	variable	Enables the body when a is nonzero and disables it otherwise.
`ACTION_SET_TRANSFORM`	variable	Teleports the body to a, b at angle c, leaving velocity alone.
`ACTION_SET_VELOCITY`	variable	Replaces linear velocity with a, b.
`ACTION_TORQUE`	variable	Adds the torque a.
`BODY_DYNAMIC`	variable	A body the solver moves.
`BODY_KINEMATIC`	variable	A body the game moves through velocity, which pushes dynamic bodies.
`BODY_STATIC`	variable	A body the solver never moves.
`JOINT_FIXED`	variable	A joint holding one relative pose between two bodies.
`JOINT_PRISMATIC`	variable	A joint sharing one sliding axis, leaving translation along it free.
`JOINT_REVOLUTE`	variable	A joint sharing one anchor point, leaving rotation about it free.
`SHAPE_BOX`	variable	An axis-aligned box in the body frame.
`SHAPE_CAPSULE`	variable	A vertical capsule.
`SHAPE_CIRCLE`	variable	A circle.
`SHAPE_SEGMENT`	variable	A centered segment from negative to positive half extents.

Types#

`BodyCreate`record#

record BodyCreate
    entity: integer
    collider: ColliderDef
    kind: integer
    fixedRotation: boolean
    isBullet: boolean
    sleepEnabled: boolean
    gravityScale: number
    linearDamping: number
    angularDamping: number
    x: number
    y: number
    angle: number
    vx: number
    vy: number
    omega: number
end

One body creation, together with the primary collider it always carries.

Fields

`entity`#

entity: integer

Caller-writable. Names the entity the body belongs to.

`collider`#

collider: ColliderDef

Caller-writable. Describes the shape created with the body.

`kind`#

kind: integer

Caller-writable. Selects one of the body-kind constants.

`fixedRotation`#

fixedRotation: boolean

Caller-writable. Locks the body's angle.

`isBullet`#

isBullet: boolean

Caller-writable. Sweeps the body's motion for continuous collision.

`sleepEnabled`#

sleepEnabled: boolean

Caller-writable. Permits the body to sleep when it comes to rest.

`gravityScale`#

gravityScale: number

Caller-writable. Scales gravity for this body alone.

`linearDamping`#

linearDamping: number

Caller-writable. Damps linear velocity.

`angularDamping`#

angularDamping: number

Caller-writable. Damps angular velocity.

`x`#

x: number

Caller-writable. Places the body's origin along x, in meters.

`y`#

y: number

Caller-writable. Places the body's origin along y with x.

`angle`#

angle: number

Caller-writable. Sets the body's initial angle, in radians.

`vx`#

vx: number

Caller-writable. Sets initial linear velocity along x, in meters per second.

`vy`#

vy: number

Caller-writable. Sets initial linear velocity along y with vx.

`omega`#

omega: number

Caller-writable. Sets initial angular velocity, in radians per second.

`ColliderCreate`record#

record ColliderCreate
    def: ColliderDef
    bodyIndex1: integer
    bodyGeneration: integer
    bodyOrder: integer
end

One secondary collider added to an existing or same-batch body.

Fields

`def`#

def: ColliderDef

Caller-writable. Describes the shape to add.

`bodyIndex1`#

bodyIndex1: integer

Caller-writable. Names the owning body slot, one-based, when bodyOrder is zero.

`bodyGeneration`#

bodyGeneration: integer

Caller-writable. Rejects a stale owning body with bodyIndex1.

`bodyOrder`#

bodyOrder: integer

Caller-writable. Names the one-based order of the queueCreateBody call in this same batch that owns the shape, or zero when bodyIndex1 is authoritative. Queueing a shape onto a body the same batch creates is what keeps a compound body one crossing.

`ColliderDef`record#

record ColliderDef
    entity: integer
    shape: integer
    sensor: boolean
    halfWidth: number
    halfHeight: number
    radius: number
    length: number
    offsetX: number
    offsetY: number
    density: number
    friction: number
    restitution: number
    categoryBits: integer
    maskBits: integer
end

One collider's geometry, material and collision filtering.

Fields

`entity`#

entity: integer

Caller-writable. Names the entity that owns this shape, which is what a contact event and an entity-addressed replacement both report.

`shape`#

shape: integer

Caller-writable. Selects one of the shape constants.

`sensor`#

sensor: boolean

Caller-writable. Reports overlap without a collision response.

`halfWidth`#

halfWidth: number

Caller-writable. Sets the box half extent along x, in meters.

`halfHeight`#

halfHeight: number

Caller-writable. Sets the box half extent along y, in meters.

`radius`#

radius: number

Caller-writable. Sets the circle or capsule radius, in meters.

`length`#

length: number

Caller-writable. Sets the distance between capsule end centers, in meters, excluding the caps.

`offsetX`#

offsetX: number

Caller-writable. Offsets the shape along x in the body frame, in meters.

`offsetY`#

offsetY: number

Caller-writable. Offsets the shape along y with offsetX.

`density`#

density: number

Caller-writable. Sets mass per unit area.

`friction`#

friction: number

Caller-writable. Sets Coulomb friction.

`restitution`#

restitution: number

Caller-writable. Sets the bounce coefficient.

`categoryBits`#

categoryBits: integer

Caller-writable. Sets the low 32 collision-group category bits.

`maskBits`#

maskBits: integer

Caller-writable. Sets the categories this shape may contact.

`ColliderUpdate`record#

record ColliderUpdate
    def: ColliderDef
    index1: integer
    generation: integer
    bodyIndex1: integer
    bodyGeneration: integer
end

One in-place collider replacement, addressed by handle or by entity.

Fields

`def`#

def: ColliderDef

Caller-writable. Describes the replacement shape.

`index1`#

index1: integer

Caller-writable. Names the collider slot to replace, one-based, or zero to find the shape under bodyIndex1 whose entity is def.entity.

`generation`#

generation: integer

Caller-writable. Rejects a stale collider slot with index1.

`bodyIndex1`#

bodyIndex1: integer

Caller-writable. Names the owning body slot, one-based, used when index1 is zero.

`bodyGeneration`#

bodyGeneration: integer

Caller-writable. Rejects a stale owning body with bodyIndex1.

`EntityHandles`record#

record EntityHandles
    bodyIndex1: {integer}
    bodyGeneration: {integer}
    colliderIndex1: {integer}
    colliderGeneration: {integer}
    jointIndex1: {integer}
    jointGeneration: {integer}
end

The body and collider handle owned by each entity a lookup asked about.

Each array holds one entry per requested entity, in the requested order, and a zero index1 means the simulation has nothing for that entity.

Fields

`bodyIndex1`#

bodyIndex1: {integer}

Read-only. Holds each entity's body slot, one-based.

`bodyGeneration`#

bodyGeneration: {integer}

Read-only. Holds each entity's body generation.

`colliderIndex1`#

colliderIndex1: {integer}

Read-only. Holds each entity's collider slot, one-based.

`colliderGeneration`#

colliderGeneration: {integer}

Read-only. Holds each entity's collider generation.

`jointIndex1`#

jointIndex1: {integer}

Read-only. Holds each entity's joint slot, one-based.

`jointGeneration`#

jointGeneration: {integer}

Read-only. Holds each entity's joint generation.

`JointCreate`record#

record JointCreate
    entity: integer
    kind: integer
    bodyAIndex1: integer
    bodyAGeneration: integer
    bodyAOrder: integer
    bodyBIndex1: integer
    bodyBGeneration: integer
    bodyBOrder: integer
    anchorAX: number
    anchorAY: number
    anchorBX: number
    anchorBY: number
    axisX: number
    axisY: number
    limitsEnabled: boolean
    limitMin: number
    limitMax: number
    motorEnabled: boolean
    motorTargetVelocity: number
    motorMaxForce: number
    contactsEnabled: boolean
end

One joint creation between two existing or same-batch bodies.

Fields

`entity`#

entity: integer

Caller-writable. Names the entity that owns the joint.

`kind`#

kind: integer

Caller-writable. Selects one of the joint-kind constants.

`bodyAIndex1`#

bodyAIndex1: integer

Caller-writable. Names the first body slot, one-based, when bodyAOrder is zero.

`bodyAGeneration`#

bodyAGeneration: integer

Caller-writable. Rejects a stale first body with bodyAIndex1.

`bodyAOrder`#

bodyAOrder: integer

Caller-writable. Names the one-based queueCreateBody order in this batch that supplies the first body, or zero.

`bodyBIndex1`#

bodyBIndex1: integer

Caller-writable. Names the second body slot, one-based, when bodyBOrder is zero.

`bodyBGeneration`#

bodyBGeneration: integer

Caller-writable. Rejects a stale second body with bodyBIndex1.

`bodyBOrder`#

bodyBOrder: integer

Caller-writable. Names the one-based queueCreateBody order in this batch that supplies the second body, or zero.

`anchorAX`#

anchorAX: number

Caller-writable. Anchors the joint in the first body's frame along x, in meters.

`anchorAY`#

anchorAY: number

Caller-writable. Anchors the joint in the first body's frame along y.

`anchorBX`#

anchorBX: number

Caller-writable. Anchors the joint in the second body's frame along x.

`anchorBY`#

anchorBY: number

Caller-writable. Anchors the joint in the second body's frame along y.

`axisX`#

axisX: number

Caller-writable. Sets the prismatic sliding axis along x. The solver normalizes it, and the other joint kinds ignore it.

`axisY`#

axisY: number

Caller-writable. Sets the prismatic sliding axis along y.

`limitsEnabled`#

limitsEnabled: boolean

Caller-writable. Enforces limitMin and limitMax.

`limitMin`#

limitMin: number

Caller-writable. Sets the lower limit, in radians for a revolute joint and meters for a prismatic one.

`limitMax`#

limitMax: number

Caller-writable. Sets the upper limit with limitMin.

`motorEnabled`#

motorEnabled: boolean

Caller-writable. Drives the joint's free degree of freedom.

`motorTargetVelocity`#

motorTargetVelocity: number

Caller-writable. Sets the motor's target velocity, in radians or meters per second.

`motorMaxForce`#

motorMaxForce: number

Caller-writable. Bounds the force or torque the motor may apply.

`contactsEnabled`#

contactsEnabled: boolean

Caller-writable. Lets the two joined bodies still collide.

`Options`type#

type Options = {
    gravityX: number?,
    gravityY: number?,
    subStepCount: integer?,
    workerCount: integer?
}

Options accepted when a simulation is created.

`Simulation`record#

record Simulation
    id: integer
    subStepCount: integer
    workerCount: integer
    queueCreateBody: function(command: BodyCreate): integer
    queueCreateCollider: function(command: ColliderCreate): integer
    queueCreateJoint: function(command: JointCreate): integer
    queueUpdateBody: function(
        index1: integer,
        generation: integer,
        kind: integer,
        fixedRotation: boolean,
        isBullet: boolean,
        sleepEnabled: boolean,
        gravityScale: number,
        linearDamping: number,
        angularDamping: number
    ): nil
    queueUpdateCollider: function(command: ColliderUpdate): integer
    queueAction: function(
        index1: integer,
        generation: integer,
        action: integer,
        a: number,
        b: number,
        c: number,
        d: number
    ): nil
    queueDestroyBody: function(index1: integer, generation: integer): nil
    queueDestroyCollider: function(index1: integer, generation: integer): nil
    queueDestroyJoint: function(index1: integer, generation: integer): nil
    step: function(dt: number): nil
    createdBody: function(order: integer): (integer, integer, integer, integer)
    createdCollider: function(order: integer): (integer, integer)
    createdJoint: function(order: integer): (integer, integer)
    updatedCollider: function(order: integer): (integer, integer)
    isLive: function(index1: integer, generation: integer): boolean
    isAwake: function(index1: integer, generation: integer): boolean
    poseOf: function(index1: integer, generation: integer): (number?, number, number, number)
    velocityOf: function(index1: integer, generation: integer): (number, number, number)
    eventCount: function(): integer
    eventAt: function(index: integer): (integer, integer, boolean, boolean)
    raycast: function(
        x1: number,
        y1: number,
        x2: number,
        y2: number,
        categoryBits: integer,
        maskBits: integer
    ): (integer?, number, number, number, number, number)
    resolveEntities: function(entities: {integer}): EntityHandles
    save: function(): (string?, string?)
    load: function(bytes: string): (boolean, string?)
    destroy: function(): nil
end

One live simulation, driven entirely through batched commands.

Every field is a closure over one simulation's private state, so an implementation is a value rather than a subclass and a test may supply its own without a native library.

Methods

`queueCreateBody`#

queueCreateBody: function(command: BodyCreate): integer

Queues one body creation and returns its one-based order in this batch, which createdBody and a same-batch bodyOrder both use.

Arguments

Name	Type	Description
`command`	`BodyCreate`

Returns

Type	Description
`integer`

`queueCreateCollider`#

queueCreateCollider: function(command: ColliderCreate): integer

Queues one secondary collider and returns its one-based order.

Arguments

Name	Type	Description
`command`	`ColliderCreate`

Returns

Type	Description
`integer`

`queueCreateJoint`#

queueCreateJoint: function(command: JointCreate): integer

Queues one joint and returns its one-based order.

Arguments

Name	Type	Description
`command`	`JointCreate`

Returns

Type	Description
`integer`

`queueUpdateBody`#

queueUpdateBody: function(
    index1: integer,
    generation: integer,
    kind: integer,
    fixedRotation: boolean,
    isBullet: boolean,
    sleepEnabled: boolean,
    gravityScale: number,
    linearDamping: number,
    angularDamping: number
): nil

Queues one body redeclaration, which never moves the body and never changes its owning entity.

The arguments are positional because a redeclaration runs once per dirty body row, and a record per row is an allocation in a loop whose length is the game's business.

Arguments

Name	Type	Description
`index1`	`integer`	the one-based target body slot
`generation`	`integer`	the generation that must match
`kind`	`integer`	one of the body-kind constants
`fixedRotation`	`boolean`	whether the body's angle is locked
`isBullet`	`boolean`	whether the body sweeps its motion
`sleepEnabled`	`boolean`	whether the body may sleep at rest
`gravityScale`	`number`	the body's own gravity multiplier
`linearDamping`	`number`	the linear velocity damping term
`angularDamping`	`number`	the angular velocity damping term

Returns

Type	Description
`nil`

`queueUpdateCollider`#

queueUpdateCollider: function(command: ColliderUpdate): integer

Queues one collider replacement and returns its one-based order, which updatedCollider uses to read the replacement's handle.

Arguments

Name	Type	Description
`command`	`ColliderUpdate`

Returns

Type	Description
`integer`

`queueAction`#

queueAction: function(
    index1: integer,
    generation: integer,
    action: integer,
    a: number,
    b: number,
    c: number,
    d: number
): nil

Queues one mutation of a live body.

Actions apply at the start of the step that follows them, in the order they were queued, and reads report the state after the last completed step. A queued impulse is therefore not visible until that step runs. The arguments are positional because a game applies actions in its own loops.

Arguments

Name	Type	Description
`index1`	`integer`	the one-based target body slot
`generation`	`integer`	the generation that must match
`action`	`integer`	one of the action constants
`a`	`number`	the action's first operand
`b`	`number`	the action's second operand
`c`	`number`	the action's third operand
`d`	`number`	the action's fourth operand

Returns

Type	Description
`nil`

`queueDestroyBody`#

queueDestroyBody: function(index1: integer, generation: integer): nil

Queues one body destruction, which also removes its colliders and joints. A slot the simulation no longer holds is ignored.

Arguments

Name	Type	Description
`index1`	`integer`
`generation`	`integer`

Returns

Type	Description
`nil`

`queueDestroyCollider`#

queueDestroyCollider: function(index1: integer, generation: integer): nil

Queues one collider destruction, ignoring a slot already gone.

Arguments

Name	Type	Description
`index1`	`integer`
`generation`	`integer`

Returns

Type	Description
`nil`

`queueDestroyJoint`#

queueDestroyJoint: function(index1: integer, generation: integer): nil

Queues one joint destruction, ignoring a slot already gone.

Arguments

Name	Type	Description
`index1`	`integer`
`generation`	`integer`

Returns

Type	Description
`nil`

`step`#

step: function(dt: number): nil

Applies every queued command and advances the simulation once.

Commands apply in a fixed order that does not depend on the order systems discovered them: joint, collider and body destruction, then body, collider and joint creation, then body redeclaration, collider replacement, and queued actions. The queues are empty afterwards.

Arguments

Name	Type	Description
`dt`	`number`	the interval to advance, in seconds

Returns

Type	Description
`nil`

Raises

when the simulation cannot apply the batch

`createdBody`#

createdBody: function(order: integer): (integer, integer, integer, integer)

Returns the body and collider assigned to one queued creation.

Arguments

Name	Type	Description
`order`	`integer`	the one-based order `queueCreateBody` returned

Returns

Type	Description
`integer`	the body slot, one-based and zero when creation failed, the body generation, the primary collider slot, and its generation
`integer`
`integer`
`integer`

`createdCollider`#

createdCollider: function(order: integer): (integer, integer)

Returns the collider assigned to one queued secondary creation.

Arguments

Name	Type	Description
`order`	`integer`	the one-based order `queueCreateCollider` returned

Returns

Type	Description
`integer`	the collider slot, one-based and zero on failure, and its generation
`integer`

`createdJoint`#

createdJoint: function(order: integer): (integer, integer)

Returns the joint assigned to one queued creation.

Arguments

Name	Type	Description
`order`	`integer`	the one-based order `queueCreateJoint` returned

Returns

Type	Description
`integer`	the joint slot, one-based and zero on failure, and its generation
`integer`

`updatedCollider`#

updatedCollider: function(order: integer): (integer, integer)

Returns the collider a queued replacement produced.

Arguments

Name	Type	Description
`order`	`integer`	the one-based order `queueUpdateCollider` returned

Returns

Type	Description
`integer`	the collider slot, one-based and zero on failure, and its generation
`integer`

`isLive`#

isLive: function(index1: integer, generation: integer): boolean

Reports whether the simulation still holds this body.

Arguments

Name	Type	Description
`index1`	`integer`
`generation`	`integer`

Returns

Type	Description
`boolean`

`isAwake`#

isAwake: function(index1: integer, generation: integer): boolean

Reports whether the solver is still integrating this body.

Arguments

Name	Type	Description
`index1`	`integer`
`generation`	`integer`

Returns

Type	Description
`boolean`

`poseOf`#

poseOf: function(index1: integer, generation: integer): (number?, number, number, number)

Returns a body's pose only when the last step moved it.

Arguments

Name	Type	Description
`index1`	`integer`	the one-based body slot
`generation`	`integer`	the generation that must match

Returns

Type	Description
`number?`	nil when the body is gone or did not move, otherwise x in meters, y in meters, the cosine of its angle, and the sine
`number`
`number`
`number`

`velocityOf`#

velocityOf: function(index1: integer, generation: integer): (number, number, number)

Returns a body's velocity after the last completed step.

Arguments

Name	Type	Description
`index1`	`integer`	the one-based body slot
`generation`	`integer`	the generation that must match

Returns

Type	Description
`number`	linear velocity along x and y in meters per second, and angular velocity in radians per second, all zero when the body is gone
`number`
`number`

`eventCount`#

eventCount: function(): integer

Reports how many contact and sensor transitions the last step queued.

Returns

Type	Description
`integer`

`eventAt`#

eventAt: function(index: integer): (integer, integer, boolean, boolean)

Returns one queued transition.

Arguments

Name	Type	Description
`index`	`integer`	the one-based position within the last step's events

Returns

Type	Description
`integer`	the first entity, the second entity, whether the pair began touching rather than stopped, and whether the pair involved a sensor. A sensor transition names the sensor first.
`integer`
`boolean`
`boolean`

`raycast`#

raycast: function(
    x1: number,
    y1: number,
    x2: number,
    y2: number,
    categoryBits: integer,
    maskBits: integer
): (integer?, number, number, number, number, number)

Casts a finite segment and returns its nearest hit.

Arguments

Name	Type	Description
`x1`	`number`	the segment start along x, in meters
`y1`	`number`	the segment start along y, in meters
`x2`	`number`	the segment end along x, in meters
`y2`	`number`	the segment end along y, in meters
`categoryBits`	`integer`	the ray's collision categories
`maskBits`	`integer`	the categories the ray may hit

Returns

Type	Description
`integer?`	nil on a miss, otherwise the owning entity, the contact point x and y in meters, the outward unit normal x and y, and the fraction along the segment
`number`
`number`
`number`
`number`
`number`

`resolveEntities`#

resolveEntities: function(entities: {integer}): EntityHandles

Answers the handles the simulation holds for a list of entities.

A snapshot load asks about every restored entity at once, so the cost stays linear in the simulation rather than quadratic.

Arguments

Name	Type	Description
`entities`	`{integer}`	the entity ids to look up

Returns

Type	Description
`EntityHandles`	one caller-owned record of parallel result arrays

`save`#

save: function(): (string?, string?)

Serializes the complete simulation state.

Returns

Type	Description
`string?`	the bytes, or nil and a reason when the state cannot be saved
`string?`

`load`#

load: function(bytes: string): (boolean, string?)

Replaces the simulation state with previously saved bytes.

Slots and generations survive, so a handle a save recorded still addresses the same body afterwards.

Arguments

Name	Type	Description
`bytes`	`string`	the value a previous `save` returned

Returns

Type	Description
`boolean`	whether the state was restored, and a reason when it was not
`string?`

`destroy`#

destroy: function(): nil

Releases the simulation and everything it owns.

Calling it twice is harmless. Every other function is undefined afterwards.

Returns

Type	Description
`nil`

Fields

`id`#

id: integer

Read-only. Identifies this simulation among the process's live ones, which is what a stored handle carries so a row left over from another simulation is rejected rather than resolved against whatever took its place.

`subStepCount`#

subStepCount: integer

Read-only. Reports how many substeps each step divides its interval into.

`workerCount`#

workerCount: integer

Read-only. Reports the solver width the process settled on.

Values#

`ACTION_FORCE`variable#

const ACTION_FORCE: integer

Adds a center-of-mass force from a and b.

`ACTION_FORCE_AT`variable#

const ACTION_FORCE_AT: integer

Adds the force a, b at the world point c, d.

`ACTION_IMPULSE`variable#

const ACTION_IMPULSE: integer

Adds a center-of-mass impulse from a and b.

`ACTION_IMPULSE_AT`variable#

const ACTION_IMPULSE_AT: integer

Adds the impulse a, b at the world point c, d.

`ACTION_SET_ANGULAR_VELOCITY`variable#

const ACTION_SET_ANGULAR_VELOCITY: integer

Replaces angular velocity with a.

`ACTION_SET_AWAKE`variable#

const ACTION_SET_AWAKE: integer

Wakes the body when a is nonzero and sleeps it otherwise.

`ACTION_SET_BODY_TYPE`variable#

const ACTION_SET_BODY_TYPE: integer

Replaces the body kind with a, one of the body-kind constants.

`ACTION_SET_ENABLED`variable#

const ACTION_SET_ENABLED: integer

Enables the body when a is nonzero and disables it otherwise.

`ACTION_SET_TRANSFORM`variable#

const ACTION_SET_TRANSFORM: integer

Teleports the body to a, b at angle c, leaving velocity alone.

`ACTION_SET_VELOCITY`variable#

const ACTION_SET_VELOCITY: integer

Replaces linear velocity with a, b.

`ACTION_TORQUE`variable#

const ACTION_TORQUE: integer

Adds the torque a.

`BODY_DYNAMIC`variable#

const BODY_DYNAMIC: integer

A body the solver moves.

`BODY_KINEMATIC`variable#

const BODY_KINEMATIC: integer

A body the game moves through velocity, which pushes dynamic bodies.

`BODY_STATIC`variable#

const BODY_STATIC: integer

A body the solver never moves.

`JOINT_FIXED`variable#

const JOINT_FIXED: integer

A joint holding one relative pose between two bodies.

`JOINT_PRISMATIC`variable#

const JOINT_PRISMATIC: integer

A joint sharing one sliding axis, leaving translation along it free.

`JOINT_REVOLUTE`variable#

const JOINT_REVOLUTE: integer

A joint sharing one anchor point, leaving rotation about it free.

`SHAPE_BOX`variable#

const SHAPE_BOX: integer

An axis-aligned box in the body frame.

`SHAPE_CAPSULE`variable#

const SHAPE_CAPSULE: integer

A vertical capsule.

`SHAPE_CIRCLE`variable#

const SHAPE_CIRCLE: integer

A circle.

`SHAPE_SEGMENT`variable#

const SHAPE_SEGMENT: integer

A centered segment from negative to positive half extents.

tecs.physics.contract

Module contents

Types

Values

Types#

BodyCreaterecord#

Fields

entity#

collider#

kind#

fixedRotation#

isBullet#

sleepEnabled#

gravityScale#

linearDamping#

angularDamping#

x#

y#

angle#

vx#

vy#

omega#

ColliderCreaterecord#

Fields

def#

bodyIndex1#

bodyGeneration#

bodyOrder#

ColliderDefrecord#

Fields

entity#

shape#

sensor#

halfWidth#

halfHeight#

radius#

length#

offsetX#

offsetY#

density#

friction#

restitution#

categoryBits#

maskBits#

ColliderUpdaterecord#

Fields

def#

index1#

generation#

bodyIndex1#

bodyGeneration#

EntityHandlesrecord#

Fields

bodyIndex1#

bodyGeneration#

colliderIndex1#

colliderGeneration#

jointIndex1#

jointGeneration#

JointCreaterecord#

Fields

entity#

kind#

bodyAIndex1#

bodyAGeneration#

bodyAOrder#

bodyBIndex1#

bodyBGeneration#

bodyBOrder#

anchorAX#

anchorAY#

anchorBX#

anchorBY#

axisX#

axisY#

limitsEnabled#

limitMin#

limitMax#

motorEnabled#

motorTargetVelocity#

`tecs.physics.contract`

`BodyCreate`record#

`entity`#

`collider`#

`kind`#

`fixedRotation`#

`isBullet`#

`sleepEnabled`#

`gravityScale`#

`linearDamping`#

`angularDamping`#

`x`#

`y`#

`angle`#

`vx`#

`vy`#

`omega`#

`ColliderCreate`record#

`def`#

`bodyIndex1`#

`bodyGeneration`#

`bodyOrder`#

`ColliderDef`record#

`entity`#

`shape`#

`sensor`#

`halfWidth`#

`halfHeight`#

`radius`#

`length`#

`offsetX`#

`offsetY`#

`density`#

`friction`#

`restitution`#

`categoryBits`#

`maskBits`#

`ColliderUpdate`record#

`def`#

`index1`#

`generation`#

`bodyIndex1`#

`bodyGeneration`#

`EntityHandles`record#

`bodyIndex1`#

`bodyGeneration`#

`colliderIndex1`#

`colliderGeneration`#

`jointIndex1`#

`jointGeneration`#

`JointCreate`record#

`entity`#

`kind`#

`bodyAIndex1`#

`bodyAGeneration`#

`bodyAOrder`#

`bodyBIndex1`#

`bodyBGeneration`#

`bodyBOrder`#

`anchorAX`#

`anchorAY`#

`anchorBX`#

`anchorBY`#

`axisX`#

`axisY`#

`limitsEnabled`#

`limitMin`#

`limitMax`#

`motorEnabled`#

`motorTargetVelocity`#

`motorMaxForce`#

`contactsEnabled`#

`Options`type#

`Simulation`record#

`queueCreateBody`#

`queueCreateCollider`#

`queueCreateJoint`#

`queueUpdateBody`#

`queueUpdateCollider`#

`queueAction`#