Worlds and stepping

Create a world, configure integration, step, and serialize it. More...

Data Structures
struct	R3IntegrationParameters
	Plain configuration data; initialize defaults, edit, then apply. More...

Macros
#define	R3_FRICTION_MODEL_SIMPLIFIED   0
	Friction model solving one Coulomb friction constraint per group of up to 4 contacts plus a twist constraint; faster but less accurate (default).
#define	R3_FRICTION_MODEL_COULOMB   1
	Friction model solving one Coulomb friction constraint per contact point.

Typedefs
typedef struct R3Bytes	R3Bytes
	Immutable owned byte buffer.
typedef struct R3World	R3World
	Sole owner of simulation state.
typedef struct R3IntegrationParameters	R3IntegrationParameters
	Plain configuration data; initialize defaults, edit, then apply.

Functions
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.
size_t	r3ActiveRigidBodies (const struct R3World *world, struct R3RigidBodyHandle *buffer, size_t capacity)
	Copies the island manager's active body handles.
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.
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.
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 R3VolumeMeshParameters	r3NewVolumeMeshParameters (R3Real cell_size)
	Return volume-meshing settings for the supplied cell size; this POD value requires no destructor.
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.
struct R3World *	r3NewWorld (void)
	Create an owned world.
R3Status	r3FreeWorld (struct R3World *world)
	Free a world.

Detailed Description

Create a world, configure integration, step, and serialize it.

Setters change the named setting for subsequent operations.

Macro Definition Documentation

R3_FRICTION_MODEL_COULOMB

#define R3_FRICTION_MODEL_COULOMB   1

Friction model solving one Coulomb friction constraint per contact point.

R3_FRICTION_MODEL_SIMPLIFIED

#define R3_FRICTION_MODEL_SIMPLIFIED   0

Friction model solving one Coulomb friction constraint per group of up to 4 contacts plus a twist constraint; faster but less accurate (default).

Typedef Documentation

R3Bytes

typedef struct R3Bytes R3Bytes

Immutable owned byte buffer.

Release with the matching FreeBytes function.

R3IntegrationParameters

typedef struct R3IntegrationParameters R3IntegrationParameters

Plain configuration data; initialize defaults, edit, then apply.

No destructor.

R3World

typedef struct R3World R3World

Sole owner of simulation state.

Handles belong to the world that created them. Ordinary reads may overlap. A mutation or step requires exclusive access. Destruction must be externally synchronized with all users of this pointer.

Function Documentation

r3ActiveRigidBodies()

size_t r3ActiveRigidBodies	(	const struct R3World *	world,
		struct R3RigidBodyHandle *	buffer,
		size_t	capacity )

Copies the island manager's active body handles.

See also

Arrays and output buffers

r3Bytes_Data()

struct R3ByteView r3Bytes_Data

(

const struct R3Bytes *

bytes

)

Borrow snapshot bytes without copying; valid until r3FreeBytes.

Never free the returned data pointer.

r3ClearThreadPool()

R3Status r3ClearThreadPool

(

struct R3World *

world

)

Removes the world's dedicated pool.

A parallel build then uses the calling context's Rayon pool (normally the global pool), not a single worker. Returns R3_UNSUPPORTED in a build without the parallel feature.

r3ContactClustering()

R3Bool r3ContactClustering

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::contactClustering.

r3ContactRecycling()

R3Bool r3ContactRecycling

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::contactRecycling.

r3ContactSoftness()

struct R3SpringCoefficients r3ContactSoftness

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::contactSoftness.

r3DefaultIntegrationParameters()

struct R3IntegrationParameters r3DefaultIntegrationParameters

(

void

)

Return native default integration parameters.

This POD value owns no resources.

r3DeserializeRigidState()

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.

This is not a stable interchange format.

Import trusted legacy Rust testbed rigid-state bytes into a new owned world. Release with r3FreeWorld; see Snapshots.

r3DeserializeWorld()

struct R3World * r3DeserializeWorld	(	const uint8_t *	data,
		size_t	count )

Restore ONLY trusted snapshots produced by the identical Rapier build.

Snapshots are not a stable file format.

r3DetectCollisions()

R3Status r3DetectCollisions	(	struct R3World *	world,
		const struct R3PhysicsHooks *	hooks,
		const struct R3EventCollector *	events )

Refresh collision detection without advancing simulation.

Hooks and events may be NULL; events are appended to the collector.

r3FreeBytes()

R3Status r3FreeBytes

(

struct R3Bytes *

bytes

)

Release an owned snapshot byte buffer.

NULL is allowed. Do not pass borrowed pointers or free the object twice.

r3FreeWorld()

R3Status r3FreeWorld

(

struct R3World *

world

)

Free a world.

NULL is allowed. Rejects destruction from an active callback. The caller must prevent other threads from starting calls during destruction.

r3FrictionInBiasPass()

R3Bool r3FrictionInBiasPass

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::frictionInBiasPass.

r3FrictionModel()

uint32_t r3FrictionModel

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::frictionModel.

r3Gravity()

struct R3Vector r3Gravity

(

const struct R3World *

world

)

Return the world-space gravitational acceleration.

r3IntegrationParameters()

struct R3IntegrationParameters r3IntegrationParameters

(

const struct R3World *

world

)

Return a copy of all world integration settings.

r3LengthUnit()

R3Real r3LengthUnit

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::lengthUnit.

r3MaxCcdSubsteps()

size_t r3MaxCcdSubsteps

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::maxCcdSubsteps.

r3MinCcdDt()

R3Real r3MinCcdDt

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::minCcdDt.

r3NewVolumeMeshParameters()

struct R3VolumeMeshParameters r3NewVolumeMeshParameters

(

R3Real

cell_size

)

Return volume-meshing settings for the supplied cell size; this POD value requires no destructor.

r3NewWorld()

struct R3World * r3NewWorld

(

void

)

Create an owned world.

Release it with FreeWorld.

r3NormalizedAllowedLinearError()

R3Real r3NormalizedAllowedLinearError

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::normalizedAllowedLinearError.

r3NormalizedContactRecycleDistance()

R3Real r3NormalizedContactRecycleDistance

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::normalizedContactRecycleDistance.

r3NormalizedMaxCorrectiveVelocity()

R3Real r3NormalizedMaxCorrectiveVelocity

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::normalizedMaxCorrectiveVelocity.

r3NormalizedMaxLinearVelocity()

R3Real r3NormalizedMaxLinearVelocity

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::normalizedMaxLinearVelocity.

r3NormalizedPredictionDistance()

R3Real r3NormalizedPredictionDistance

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::normalizedPredictionDistance.

r3NumInternalPgsIterations()

size_t r3NumInternalPgsIterations

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::numInternalPgsIterations.

r3NumInternalStabilizationIterations()

size_t r3NumInternalStabilizationIterations

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::numInternalStabilizationIterations.

r3NumSolverIterations()

size_t r3NumSolverIterations

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::numSolverIterations.

r3NumThreads()

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.

Returns one for a build without the parallel feature.

r3QuarantinedColliders()

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.

Rapier disabled them; re-enable them with Collider_SetEnabled once fixed. The list is cleared at the start of every Step and may hold handles removed since.

See also

Arrays and output buffers

r3QuarantinedRigidBodies()

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).

Rapier disabled them, restored their last valid pose when known, and zeroed their velocities and forces; re-enable them with RigidBody_SetEnabled once the cause is fixed. The list is cleared at the start of every Step and may hold handles removed since.

See also

Arrays and output buffers

r3QuarantinedSoftBodies()

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.

Rapier disabled them and zeroed their velocities but left the non-finite positions: fix them with SoftBody_SetParticlePosition before SoftBody_SetEnabled. The list is cleared at the start of every Step and may hold handles removed since.

See also

Arrays and output buffers

r3SerializeWorld()

struct R3Bytes * r3SerializeWorld

(

const struct R3World *

world

)

Return owned snapshot bytes; release them with r3FreeBytes.

See Snapshots for restoration and handle lifetimes.

r3SetContactClustering()

R3Status r3SetContactClustering	(	struct R3World *	world,
		R3Bool	value )

Set the world setting documented by R3IntegrationParameters::contactClustering.

r3SetContactRecycling()

R3Status r3SetContactRecycling	(	struct R3World *	world,
		R3Bool	value )

Set the world setting documented by R3IntegrationParameters::contactRecycling.

r3SetContactSoftness()

R3Status r3SetContactSoftness	(	struct R3World *	world,
		struct R3SpringCoefficients	value )

Set the world setting documented by R3IntegrationParameters::contactSoftness.

r3SetCountersEnabled()

R3Status r3SetCountersEnabled	(	struct R3World *	world,
		R3Bool	enabled )

Enable or disable the native pipeline profiling counters.

Enabling returns R3_UNSUPPORTED if the library was built without the profiler feature.

r3SetFrictionInBiasPass()

R3Status r3SetFrictionInBiasPass	(	struct R3World *	world,
		R3Bool	value )

Set the world setting documented by R3IntegrationParameters::frictionInBiasPass.

r3SetFrictionModel()

R3Status r3SetFrictionModel	(	struct R3World *	world,
		uint32_t	value )

Set the world setting documented by R3IntegrationParameters::frictionModel.

r3SetGravity()

R3Status r3SetGravity	(	struct R3World *	world,
		struct R3Vector	value )

Set the world-space gravitational acceleration.

r3SetIntegrationParameters()

R3Status r3SetIntegrationParameters	(	struct R3World *	world,
		const struct R3IntegrationParameters *	data )

Copies validated values; does not expose a writable alias to Rust memory.

r3SetLengthUnit()

R3Status r3SetLengthUnit	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::lengthUnit.

r3SetMaxCcdSubsteps()

R3Status r3SetMaxCcdSubsteps	(	struct R3World *	world,
		size_t	value )

Set the world setting documented by R3IntegrationParameters::maxCcdSubsteps.

r3SetMinCcdDt()

R3Status r3SetMinCcdDt	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::minCcdDt.

r3SetNormalizedAllowedLinearError()

R3Status r3SetNormalizedAllowedLinearError	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::normalizedAllowedLinearError.

r3SetNormalizedContactRecycleDistance()

R3Status r3SetNormalizedContactRecycleDistance	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::normalizedContactRecycleDistance.

r3SetNormalizedMaxCorrectiveVelocity()

R3Status r3SetNormalizedMaxCorrectiveVelocity	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::normalizedMaxCorrectiveVelocity.

r3SetNormalizedMaxLinearVelocity()

R3Status r3SetNormalizedMaxLinearVelocity	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::normalizedMaxLinearVelocity.

r3SetNormalizedPredictionDistance()

R3Status r3SetNormalizedPredictionDistance	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::normalizedPredictionDistance.

r3SetNumInternalPgsIterations()

R3Status r3SetNumInternalPgsIterations	(	struct R3World *	world,
		size_t	value )

Set the world setting documented by R3IntegrationParameters::numInternalPgsIterations.

r3SetNumInternalStabilizationIterations()

R3Status r3SetNumInternalStabilizationIterations	(	struct R3World *	world,
		size_t	value )

Set the world setting documented by R3IntegrationParameters::numInternalStabilizationIterations.

r3SetNumSolverIterations()

R3Status r3SetNumSolverIterations	(	struct R3World *	world,
		size_t	value )

Set the world setting documented by R3IntegrationParameters::numSolverIterations.

r3SetNumThreads()

R3Status r3SetNumThreads	(	struct R3World *	world,
		size_t	num_threads )

Configures a dedicated pool for this world's parallel work.

Zero selects Rayon's default. Takes effect on the next step. Reconfiguration must not race with a step or callback. Returns R3_UNSUPPORTED in builds without the parallel feature; keeps the previous pool when constructing the new one fails. The pool is not included in snapshots.

r3SetStaticContactSoftness()

R3Status r3SetStaticContactSoftness	(	struct R3World *	world,
		struct R3SpringCoefficients	value )

Set the world setting documented by R3IntegrationParameters::staticContactSoftness.

r3SetTimeStep()

R3Status r3SetTimeStep	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::dt.

r3SetWarmstartCoefficient()

R3Status r3SetWarmstartCoefficient	(	struct R3World *	world,
		R3Real	value )

Set the world setting documented by R3IntegrationParameters::warmstartCoefficient.

r3SetWarmstartJoints()

R3Status r3SetWarmstartJoints	(	struct R3World *	world,
		R3Bool	value )

Set the world setting documented by R3IntegrationParameters::warmstartJoints.

r3StaticContactSoftness()

struct R3SpringCoefficients r3StaticContactSoftness

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::staticContactSoftness.

r3Step()

R3Status r3Step	(	struct R3World *	world,
		const struct R3PhysicsHooks *	hooks,
		const struct R3EventCollector *	events )

Advance simulation by one timestep.

Hooks and events may be NULL. Events are appended to the collector, which is never cleared automatically. This call invalidates all borrowed set-element pointers.

r3StepTimeMs()

double r3StepTimeMs

(

const struct R3World *

world

)

Native engine time of the most recent step, in milliseconds, as in the Rust testbed.

Enable counters before stepping. Excludes C callbacks outside the step, rendering, and dispatch into a dedicated thread pool; remains unchanged while paused.

r3TimeStep()

R3Real r3TimeStep

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::dt.

r3WarmstartCoefficient()

R3Real r3WarmstartCoefficient

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::warmstartCoefficient.

r3WarmstartJoints()

R3Bool r3WarmstartJoints

(

const struct R3World *

world

)

Return the world setting documented by R3IntegrationParameters::warmstartJoints.