Struct bevy_rapier2d::prelude::Compound
source · [−]pub struct Compound { /* private fields */ }
Expand description
A compound shape with an aabb bounding volume.
A compound shape is a shape composed of the union of several simpler shape. This is the main way of creating a concave shape from convex parts. Each parts can have its own delta transformation to shift or rotate it with regard to the other shapes.
Implementations
sourceimpl Compound
impl Compound
sourcepub fn new(
shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape), Global>
) -> Compound
pub fn new(
shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape), Global>
) -> Compound
Builds a new compound shape.
Panics if the input vector is empty, of if some of the provided shapes are also composite shapes (nested composite shapes are not allowed).
sourcepub fn decompose_trimesh(&self, trimesh: &TriMesh) -> Option<Compound>
pub fn decompose_trimesh(&self, trimesh: &TriMesh) -> Option<Compound>
Create a compound shape from the TriMesh
. This involves merging adjacent triangles into convex
polygons using the Hertel-Mehlhorn algorithm.
Can fail and return None
if any of the created shapes has close to zero or zero surface area.
sourceimpl Compound
impl Compound
sourcepub fn shapes(
&self
) -> &[(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape)]
pub fn shapes(
&self
) -> &[(Isometry<f32, Unit<Complex<f32>>, 2_usize>, SharedShape)]
The shapes of this compound shape.
sourcepub fn local_aabb(&self) -> &AABB
pub fn local_aabb(&self) -> &AABB
The AABB of this compound in its local-space.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
The bounding-sphere of this compound in its local-space.
Trait Implementations
sourceimpl PointQuery for Compound
impl PointQuery for Compound
sourcepub fn project_local_point(
&self,
point: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
pub fn project_local_point(
&self,
point: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
. Read more
sourcepub fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<2_usize>>
) -> (PointProjection, FeatureId)
pub fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<2_usize>>
) -> (PointProjection, FeatureId)
Projects a point on the boundary of self
and returns the id of the
feature the point was projected on. Read more
sourcepub fn contains_local_point(&self, point: &OPoint<f32, Const<2_usize>>) -> bool
pub fn contains_local_point(&self, point: &OPoint<f32, Const<2_usize>>) -> bool
Tests if the given point is inside of self
.
sourcefn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
fn distance_to_local_point(
&self,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
.
sourcefn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> PointProjection
Projects a point on self
transformed by m
.
sourcefn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &OPoint<f32, Const<2_usize>>,
solid: bool
) -> f32
Computes the minimal distance between a point and self
transformed by m
.
sourceimpl RayCast for Compound
impl RayCast for Compound
sourcepub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
Computes the time of impact between this transform shape and a ray.
sourcepub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
Computes the time of impact, and normal between this transformed shape and a ray.
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
Tests whether a ray intersects this transformed shape.
sourcefn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
Computes the time of impact between this transform shape and a ray.
sourceimpl Shape for Compound
impl Shape for Compound
sourcepub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
Clones this shape into a boxed trait-object.
sourcepub fn compute_local_aabb(&self) -> AABB
pub fn compute_local_aabb(&self) -> AABB
Computes the AABB of this shape.
sourcepub fn compute_local_bounding_sphere(&self) -> BoundingSphere
pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
Computes the bounding-sphere of this shape.
sourcepub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
Computes the AABB of this shape with the given position.
sourcepub fn mass_properties(&self, density: f32) -> MassProperties
pub fn mass_properties(&self, density: f32) -> MassProperties
Compute the mass-properties of this shape given its uniform density.
sourcepub fn shape_type(&self) -> ShapeType
pub fn shape_type(&self) -> ShapeType
Gets the type tag of this shape.
sourcepub fn as_typed_shape(&self) -> TypedShape<'_>
pub fn as_typed_shape(&self) -> TypedShape<'_>
Gets the underlying shape as an enum.
pub fn ccd_thickness(&self) -> f32
pub fn ccd_angular_thickness(&self) -> f32
pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourcefn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
Computes the bounding-sphere of this shape with the given position.
sourcefn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
Convents this shape into its support mapping, if it has one.
sourcefn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
Converts this shape to a polygonal feature-map, if it is one.
sourcefn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &OPoint<f32, Const<2_usize>>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &OPoint<f32, Const<2_usize>>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
The shape’s normal at the given point located on a specific feature.
sourcefn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
end_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
fn compute_swept_aabb(
&self,
start_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
end_pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
Computes the swept AABB of this shape, i.e., the space it would occupy by moving from the given start position to the given end position. Read more
sourceimpl SimdCompositeShape for Compound
impl SimdCompositeShape for Compound
sourceimpl TypedSimdCompositeShape for Compound
impl TypedSimdCompositeShape for Compound
type PartShape = dyn Shape + 'static
type PartId = u32
pub fn map_typed_part_at(
&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
pub fn map_untyped_part_at(
&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2_usize>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
pub fn typed_qbvh(&self) -> &QBVH<u32>
Auto Trait Implementations
impl !RefUnwindSafe for Compound
impl Send for Compound
impl Sync for Compound
impl Unpin for Compound
impl !UnwindSafe for Compound
Blanket Implementations
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcepub fn borrow_mut(&mut self) -> &mut T
pub fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
sourceimpl<T> Instrument for T
impl<T> Instrument for T
sourcefn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
sourcefn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcepub fn to_owned(&self) -> T
pub fn to_owned(&self) -> T
Creates owned data from borrowed data, usually by cloning. Read more
sourcepub fn clone_into(&self, target: &mut T)
pub fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more
impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
pub fn vzip(self) -> V
sourceimpl<T> WithSubscriber for T
impl<T> WithSubscriber for T
sourcefn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self> where
S: Into<Dispatch>,
fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self> where
S: Into<Dispatch>,
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
sourcefn with_current_subscriber(self) -> WithDispatch<Self>
fn with_current_subscriber(self) -> WithDispatch<Self>
Attaches the current default Subscriber
to this type, returning a
WithDispatch
wrapper. Read more