Trait heron::rapier_plugin::rapier::geometry::Shape[−]

pub trait Shape: PointQuery<f32> + RayCast<f32> + DowncastSync {
    pub fn compute_aabb(
        &self, 
        position: &Isometry<f32, U3, Unit<Quaternion<f32>>>
    ) -> AABB<f32>;
    pub fn mass_properties(&self, density: f32) -> MassProperties;
    pub fn shape_type(&self) -> ShapeType;

    pub fn as_polygonal_feature_map(
        &self
    ) -> Option<(&dyn PolygonalFeatureMap, f32)> { ... }
}

Trait implemented by shapes usable by Rapier.

Required methods

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

Computes the AABB of this shape.

`pub fn mass_properties(&self, density: f32) -> MassProperties`

Compute the mass-properties of this shape given its uniform density.

`pub fn shape_type(&self) -> ShapeType`

Gets the type tag of this shape.

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Provided methods

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

Converts this shape to a polygonal feature-map, if it is one.

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Implementations

`impl dyn Shape + 'static`

`pub fn as_ball(&self) -> Option<&Ball<f32>>`

Converts this abstract shape to a ball, if it is one.

`pub fn as_cuboid(&self) -> Option<&Cuboid<f32>>`

Converts this abstract shape to a cuboid, if it is one.

`pub fn as_capsule(&self) -> Option<&Capsule>`

Converts this abstract shape to a capsule, if it is one.

`pub fn as_triangle(&self) -> Option<&Triangle<f32>>`

Converts this abstract shape to a triangle, if it is one.

`pub fn as_trimesh(&self) -> Option<&Trimesh>`

Converts this abstract shape to a triangle mesh, if it is one.

`pub fn as_heightfield(&self) -> Option<&HeightField<f32>>`

Converts this abstract shape to a heightfield, if it is one.

`pub fn as_cylinder(&self) -> Option<&Cylinder<f32>>`

Converts this abstract shape to a cylinder, if it is one.

`pub fn as_cone(&self) -> Option<&Cone<f32>>`

Converts this abstract shape to a cone, if it is one.

`pub fn as_round_cylinder(&self) -> Option<&RoundCylinder>`

Converts this abstract shape to a cone, if it is one.

`impl dyn Shape + 'static`

`pub fn is<T>(&self) -> bool where T: Shape,`

Returns true if the trait object wraps an object of type __T.

`pub fn downcast<T>( self: Box<dyn Shape + 'static, Global> ) -> Result<Box<T, Global>, Box<dyn Shape + 'static, Global>> where __T: Shape,`

Returns a boxed object from a boxed trait object if the underlying object is of type __T. Returns the original boxed trait if it isn't.

`pub fn downcast_rc<T>( self: Rc<dyn Shape + 'static> ) -> Result<Rc<T>, Rc<dyn Shape + 'static>> where __T: Shape,`

Returns an Rc-ed object from an Rc-ed trait object if the underlying object is of type __T. Returns the original Rc-ed trait if it isn't.

`pub fn downcast_ref<T>(&self) -> Option<&T> where __T: Shape,`

Returns a reference to the object within the trait object if it is of type __T, or None if it isn't.

`pub fn downcast_mut<T>(&mut self) -> Option<&mut T> where __T: Shape,`

Returns a mutable reference to the object within the trait object if it is of type __T, or None if it isn't.

`pub fn downcast_arc<T>( self: Arc<dyn Shape + 'static> ) -> Result<Arc<T>, Arc<dyn Shape + 'static>> where __T: Shape + Any + Send + Sync,`

Returns an Arc-ed object from an Arc-ed trait object if the underlying object is of type __T. Returns the original Arc-ed trait if it isn't.

Implementors

`impl Shape for Capsule`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for RoundCylinder`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Trimesh`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`impl Shape for Ball<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`impl Shape for Cone<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Cuboid<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Cylinder<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for HeightField<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`impl Shape for Segment<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Triangle<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

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Trait heron::rapier_plugin::rapier::geometry::Shape[−]

Required methods

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

Provided methods

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

Implementations

impl dyn Shape + 'static

pub fn as_ball(&self) -> Option<&Ball<f32>>

pub fn as_cuboid(&self) -> Option<&Cuboid<f32>>

pub fn as_capsule(&self) -> Option<&Capsule>

pub fn as_triangle(&self) -> Option<&Triangle<f32>>

pub fn as_trimesh(&self) -> Option<&Trimesh>

pub fn as_heightfield(&self) -> Option<&HeightField<f32>>

pub fn as_cylinder(&self) -> Option<&Cylinder<f32>>

pub fn as_cone(&self) -> Option<&Cone<f32>>

pub fn as_round_cylinder(&self) -> Option<&RoundCylinder>

impl dyn Shape + 'static

pub fn is<__T>(&self) -> bool where __T: Shape,

pub fn downcast<__T>( self: Box<dyn Shape + 'static, Global>) -> Result<Box<__T, Global>, Box<dyn Shape + 'static, Global>> where __T: Shape,

pub fn downcast_rc<__T>( self: Rc<dyn Shape + 'static>) -> Result<Rc<__T>, Rc<dyn Shape + 'static>> where __T: Shape,

pub fn downcast_ref<__T>(&self) -> Option<&__T> where __T: Shape,

pub fn downcast_mut<__T>(&mut self) -> Option<&mut __T> where __T: Shape,

pub fn downcast_arc<__T>( self: Arc<dyn Shape + 'static>) -> Result<Arc<__T>, Arc<dyn Shape + 'static>> where __T: Shape + Any + Send + Sync,

Implementors

impl Shape for Capsule

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

impl Shape for RoundCylinder

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

impl Shape for Trimesh

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, _density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

impl Shape for Ball<f32>

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

impl Shape for Cone<f32>

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

impl Shape for Cuboid<f32>

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

impl Shape for Cylinder<f32>

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

impl Shape for HeightField<f32>

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, _density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

impl Shape for Segment<f32>

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, _density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

impl Shape for Triangle<f32>

pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>>) -> AABB<f32>

pub fn mass_properties(&self, _density: f32) -> MassProperties

pub fn shape_type(&self) -> ShapeType

pub fn as_polygonal_feature_map( &self) -> Option<(&dyn PolygonalFeatureMap, f32)>

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl dyn Shape + 'static`

`pub fn as_ball(&self) -> Option<&Ball<f32>>`

`pub fn as_cuboid(&self) -> Option<&Cuboid<f32>>`

`pub fn as_capsule(&self) -> Option<&Capsule>`

`pub fn as_triangle(&self) -> Option<&Triangle<f32>>`

`pub fn as_trimesh(&self) -> Option<&Trimesh>`

`pub fn as_heightfield(&self) -> Option<&HeightField<f32>>`

`pub fn as_cylinder(&self) -> Option<&Cylinder<f32>>`

`pub fn as_cone(&self) -> Option<&Cone<f32>>`

`pub fn as_round_cylinder(&self) -> Option<&RoundCylinder>`

`impl dyn Shape + 'static`

`pub fn is<T>(&self) -> bool where T: Shape,`

`pub fn downcast<T>( self: Box<dyn Shape + 'static, Global> ) -> Result<Box<T, Global>, Box<dyn Shape + 'static, Global>> where __T: Shape,`

`pub fn downcast_rc<T>( self: Rc<dyn Shape + 'static> ) -> Result<Rc<T>, Rc<dyn Shape + 'static>> where __T: Shape,`

`pub fn downcast_ref<T>(&self) -> Option<&T> where __T: Shape,`

`pub fn downcast_mut<T>(&mut self) -> Option<&mut T> where __T: Shape,`

`pub fn downcast_arc<T>( self: Arc<dyn Shape + 'static> ) -> Result<Arc<T>, Arc<dyn Shape + 'static>> where __T: Shape + Any + Send + Sync,`

`impl Shape for Capsule`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for RoundCylinder`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Trimesh`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`impl Shape for Ball<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`impl Shape for Cone<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Cuboid<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Cylinder<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for HeightField<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`impl Shape for Segment<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`

`impl Shape for Triangle<f32>`

`pub fn compute_aabb( &self, position: &Isometry<f32, U3, Unit<Quaternion<f32>>> ) -> AABB<f32>`

`pub fn mass_properties(&self, _density: f32) -> MassProperties`

`pub fn shape_type(&self) -> ShapeType`

`pub fn as_polygonal_feature_map( &self ) -> Option<(&dyn PolygonalFeatureMap, f32)>`