Struct heron::rapier_plugin::rapier::ncollide::shape::Compound [−][src]
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
impl<N> Compound<N> where
N: RealField,
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N: RealField,
pub fn new(
shapes: Vec<(Isometry<N, U3, Unit<Quaternion<N>>>, ShapeHandle<N>), Global>
) -> Compound<N>
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shapes: Vec<(Isometry<N, U3, Unit<Quaternion<N>>>, ShapeHandle<N>), Global>
) -> Compound<N>
Builds a new compound shape.
impl<N> Compound<N> where
N: RealField,
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N: RealField,
pub fn shapes(
&self
) -> &[(Isometry<N, U3, Unit<Quaternion<N>>>, ShapeHandle<N>)]ⓘ
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&self
) -> &[(Isometry<N, U3, Unit<Quaternion<N>>>, ShapeHandle<N>)]ⓘ
The shapes of this compound shape.
pub fn bvt(&self) -> &BVT<usize, AABB<N>>
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The optimization structure used by this compound shape.
pub fn aabb(&self) -> &AABB<N>
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The AABB of this compound in its local-space.
pub fn bounding_volumes(&self) -> &[AABB<N>]ⓘ
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The shapes bounding volumes.
pub fn aabb_at(&self, i: usize) -> &AABB<N>
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The AABB of the i-th shape compositing this compound.
pub fn subshape_feature_id(&self, fid: FeatureId) -> (usize, FeatureId)
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Transforms a FeatureId of this compound into a pair containing the index of the subshape containing this feature, and the corresponding FeatureId on this subshape.
Trait Implementations
impl<N> Clone for Compound<N> where
N: Clone + RealField,
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N: Clone + RealField,
impl<N> CompositeShape<N> for Compound<N> where
N: RealField,
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N: RealField,
pub fn nparts(&self) -> usize
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pub fn map_part_at(
&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static))
)
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&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static))
)
pub fn map_part_and_preprocessor_at(
&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
_prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
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&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
_prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
pub fn aabb_at(&self, i: usize) -> AABB<N>
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pub fn bvh(&self) -> BVHImpl<'_, N, usize, AABB<N>>
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impl<N> HasBoundingVolume<N, AABB<N>> for Compound<N> where
N: RealField,
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N: RealField,
pub fn bounding_volume(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> AABB<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> AABB<N>
pub fn local_bounding_volume(&self) -> AABB<N>
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impl<N> HasBoundingVolume<N, BoundingSphere<N>> for Compound<N> where
N: RealField,
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N: RealField,
pub fn bounding_volume(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
pub fn local_bounding_volume(&self) -> BoundingSphere<N>
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impl<N> PointQuery<N> for Compound<N> where
N: RealField,
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N: RealField,
pub fn project_point(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>,
solid: bool
) -> PointProjection<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>,
solid: bool
) -> PointProjection<N>
pub fn project_point_with_feature(
&self,
&Isometry<N, U3, Unit<Quaternion<N>>>,
&Point<N, U3>
) -> (PointProjection<N>, FeatureId)
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&self,
&Isometry<N, U3, Unit<Quaternion<N>>>,
&Point<N, U3>
) -> (PointProjection<N>, FeatureId)
pub fn contains_point(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>
) -> bool
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>
) -> bool
pub fn distance_to_point(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
pt: &Point<N, U3>,
solid: bool
) -> N
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
pt: &Point<N, U3>,
solid: bool
) -> N
impl<N> RayCast<N> for Compound<N> where
N: RealField,
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N: RealField,
pub fn toi_with_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<N>
pub fn toi_and_normal_with_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
pub fn toi_and_normal_and_uv_with_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
pub fn intersects_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N
) -> bool
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N
) -> bool
impl<N> Shape<N> for Compound<N> where
N: RealField,
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N: RealField,
pub fn aabb(&self, m: &Isometry<N, U3, Unit<Quaternion<N>>>) -> AABB<N>
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pub fn local_aabb(&self) -> AABB<N>
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pub fn bounding_sphere(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
pub fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
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pub fn as_point_query(&self) -> Option<&dyn PointQuery<N>>
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pub fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
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pub fn is_composite_shape(&self) -> bool
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pub fn tangent_cone_contains_dir(
&self,
feature: FeatureId,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
Option<&[N]>,
dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
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&self,
feature: FeatureId,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
Option<&[N]>,
dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
pub fn subshape_containing_feature(&self, feature: FeatureId) -> usize
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pub fn local_bounding_sphere(&self) -> BoundingSphere<N>
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pub fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
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pub fn as_support_map(&self) -> Option<&dyn SupportMap<N>>
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pub fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>
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pub fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>
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pub fn is_convex_polyhedron(&self) -> bool
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pub fn is_support_map(&self) -> bool
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pub fn is_deformable_shape(&self) -> bool
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Auto Trait Implementations
impl<N> !RefUnwindSafe for Compound<N>
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impl<N> Send for Compound<N>
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impl<N> Sync for Compound<N>
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impl<N> Unpin for Compound<N> where
N: Unpin,
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N: Unpin,
impl<N> !UnwindSafe for Compound<N>
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CloneAny for T where
T: Clone + Any,
T: Clone + Any,
impl<T> Component for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Downcast for T where
T: Any,
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T> Instrument for T
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pub fn instrument(self, span: Span) -> Instrumented<Self>
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pub fn in_current_span(self) -> Instrumented<Self>
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Resource for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
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>,
V: MultiLane<T>,