Struct CompoundShape 

pub struct CompoundShape {
    pub children: Vec<CompoundChild>,
    /* private fields */
}

Compound shape: multiple child shapes combined into one body

Fields

children: Vec<CompoundChild>

Child shapes with their local transforms

Implementations

impl CompoundShape

pub const fn new() -> Self

Create an empty compound shape

pub fn add_sphere( &mut self, sphere: Sphere, position: Vec3Fix, rotation: QuatFix, )

Add a sphere child

pub fn add_capsule( &mut self, capsule: Capsule, position: Vec3Fix, rotation: QuatFix, )

Add a capsule child

pub fn add_convex_hull( &mut self, hull: ConvexHull, position: Vec3Fix, rotation: QuatFix, )

Add a convex hull child

pub fn from_decomposition(result: &DecompositionResult) -> Self

A compound of the convex pieces of a decomposed SDF: one hull child per piece, at the origin, so the compound is in the SDF’s own coordinates.

Together the hulls are the concave solid the SDF describes, up to the grid’s resolution (a hull is smaller than the solid by up to a cell per side), where a single convex hull would fill every dent.

pub fn from_sdf( sdf: &dyn SdfField, min: Vec3Fix, max: Vec3Fix, config: &DecomposeConfig, ) -> Self

Decompose sdf inside [min, max] (crate::convex_decompose::decompose_sdf) and build the compound of its convex pieces (from_decomposition).

pub fn add_box( &mut self, obox: OrientedBox, position: Vec3Fix, rotation: QuatFix, )

Add a box child

pub fn len(&self) -> usize

Number of children

pub fn is_empty(&self) -> bool

Check if empty

pub fn compute_aabb(&mut self) -> AABB

Compute the AABB enclosing all children (in local space)

pub fn child_world_aabb( &self, child_idx: usize, body_pos: Vec3Fix, body_rot: QuatFix, ) -> AABB

Get world-space AABB for a specific child, given body transform

pub fn world_aabb(&self, body_pos: Vec3Fix, body_rot: QuatFix) -> AABB

Get world-space AABB for entire compound given body transform

pub fn overlapping_children( &self, target_aabb: &AABB, body_pos: Vec3Fix, body_rot: QuatFix, ) -> Vec<usize>

AABB-based closest pair pruning: 対象AABBと重なる子のみを返す。 ブロードフェーズで不要なナローフェーズ判定を除外する。

pub fn support_world( &self, direction: Vec3Fix, body_pos: Vec3Fix, body_rot: QuatFix, ) -> Vec3Fix

Support function for the compound shape (selects the child with maximum support)

pub fn mass_properties(&self, density: Fix128) -> MassProperties

Mass, centre of mass and the inertia about it, for the compound made of density, in the compound’s own frame.

Each child contributes its shape’s mass properties (a capsule’s along its own axis, a box’s in its own frame, a hull’s by the exact integral over its mesh), carried to where the child is, and the tensors are summed about the common centre of mass with the parallel-axis theorem (crate::mass_properties::translate_inertia). Overlapping children are counted twice where they overlap: a compound is a union of solids, not a boolean one.

MassProperties::ZERO for an empty compound, a non-positive density, or children with no volume.

Trait Implementations

impl Clone for CompoundShape

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for CompoundShape

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CompoundShape

fn default() -> Self

Returns the “default value” for a type.