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Immediate-mode simulation
Sometimes it is useful to simulate motion for a single object without updating the entire world. For example, in a networked multiplayer game, it might be necessary for a server to compute the motion of an object thrown by a remote player for several timesteps while time does not otherwise advance, to bring the server's model of the object into sync with the player's client-side prediction.
Rapier already supports computing contact manifolds independently of the progression of time via the QueryPipeline
. A complete solution would expand on this with helpers to compute contact resolution forces and to integrate motion, with or without CCD. A higher-level step
-like interface that bundles these up might be useful as well, though it's unclear if that might be significantly less flexible.
PhysX's immediate mode API is prior art.
Transferred this issue to the rapier
repository.