Module heron::rapier_plugin::rapier3d::prelude
Expand description
Prelude containing the common types defined by Rapier.
Macros
Construct a fixed-size point directly from data.
Construct a fixed-size column vector directly from data.
Structs
Flags affecting whether or not collision-detection happens between two colliders
depending on the type of rigid-bodies they are attached to.
Flags affecting the events generated for this collider.
Flags affecting the behavior of the constraints solver for a given contact manifold.
A pair of rigid body handles.
A broad-phase combining a Hierarchical Grid and Sweep-and-Prune.
Solver responsible for performing motion-clamping on fast-moving bodies.
A collision event handler that collects events into a crossbeam channel.
A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.
Data associated to a collider that takes part to a broad-phase algorithm.
A structure responsible for building a new collider.
Flags describing how the collider has been modified by the user.
A set of flags for controlling collision/intersection filtering, modification, and events.
The unique identifier of a collider added to a collider set.
The constraints solver-related properties of this collider (friction, restitution, etc.)
A pair of collider handles.
Information about the rigid-body this collider is attached to.
The position of a collider.
A set of colliders that can be handled by a physics
World.Flags providing more information regarding a collision event.
The collision pipeline, responsible for performing collision detection between colliders.
A compound shape with an aabb bounding volume.
A single contact between two collider.
A contact manifold between two colliders.
Context given to custom contact modifiers to modify the contacts seen by the constraints solver.
The description of all the contacts between a pair of colliders.
A convex polyhedron without degenerate faces.
A fixed joint, locks all relative motion between two bodies.
Create fixed joints using the builder pattern.
A 3D heightfield with a generic storage buffer for its height grid.
A generic joint.
Create generic joints using the builder pattern.
A half-space delimited by an infinite plane.
The status of the cell of an heightfield.
An iterator through all the triangles around the given point, after vertical projection on the heightfield.
An impulse-based joint attached to two bodies.
The unique identifier of a joint added to the joint set.
The unique identifier of a collider added to a collider set.
A set of impulse_joints that can be handled by a physics
World.Parameters for a time-step of the physics engine.
A graph where nodes are collision objects and edges are contact or proximity algorithms.
Pairwise filtering using bit masks.
The description of all the contacts between a pair of colliders.
Structure responsible for maintaining the set of active rigid-bodies, and
putting non-moving rigid-bodies to sleep to save computation times.
A bit mask identifying multiple degrees of freedom of a joint.
The limits of a joint along one of its degrees of freedom.
A joint’s motor along one of its degrees of freedom.
Flags affecting the behavior of the constraints solver for a given contact manifold.
The local mass properties of a rigid-body.
An articulated body simulated using the reduced-coordinates approach.
The temporary index of a multibody added to a
MultibodyJointSet.An joint attached to two bodies based on the reduced coordinates formalism.
The unique handle of an multibody_joint added to a
MultibodyJointSet.A set of rigid bodies that can be handled by a physics pipeline.
One link of a multibody.
The narrow-phase responsible for computing precise contact information between colliders.
Context given to custom collision filters to filter-out collisions.
The physics pipeline, responsible for stepping the whole physics simulation.
A polygonal feature representing the local polygonal approximation of
a vertex, face, or edge of a convex shape.
A polyline.
A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.
Create prismatic joints using the builder pattern.
A pipeline for performing queries on all the colliders of a scene.
A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.
Create revolute joints using the builder pattern.
A rigid body.
The rb_activation status of a body.
A builder for rigid-bodies.
Information used for Continuous-Collision-Detection.
Flags describing how the rigid-body has been modified by the user.
The set of colliders attached to this rigid-bodies.
Damping factors to progressively slow down a rigid-body.
The dominance groups of a rigid-body.
The user-defined external forces applied to this rigid-body.
The unique handle of a rigid body added to a
RigidBodySet.Internal identifiers used by the physics engine.
The mass properties of this rigid-bodies.
The position of this rigid-body.
A set of rigid bodies that can be handled by a physics pipeline.
The velocities of this rigid-body.
A shape with rounded borders.
The shape of a collider.
A contact seen by the constraints solver for computing forces.
Flags affecting the behavior of the constraints solver for a given contact manifold.
A spherical joint, locks all relative translations between two bodies.
Create spherical joints using the builder pattern.
A tetrahedron with 4 vertices.
A face of a triangle-mesh’s half-edge topology.
A half-edge of a triangle-mesh’s half-edge topology.
A vertex of a triangle-mesh’s half-edge topology.
A single contact between two shape.
A triangle mesh.
The connected-components of a triangle mesh.
The status of the cell of an heightfield.
The set of pseudo-normals of a triangle mesh.
The half-edge topology information of a triangle mesh.
Enums
An event emitted by the broad-phase.
Rules used to combine two coefficients.
The mass-properties of a collider.
The type of collider.
Events occurring when two colliders start or stop colliding
An identifier of a feature of a convex polyhedron.
Identifiers of degrees of freedoms of a joint.
The spring-like model used for constraints resolution.
Indicates how the colliders position should be taken into account when
updating the query pipeline.
The status of a body, governing the way it is affected by external forces.
Logical description of the location of a point on a triangle.
Enum representing the type of a shape.
Logical description of the location of a point on a triangle.
Indicated an inconsistency in the topology of a triangle mesh.
Orientation of a triangle.
Description of the location of a point on a triangle.
Enum representing the shape with its actual type
Constants
The maximum number of rotational degrees of freedom of a rigid-body.
The default tolerance used for geometric operations.
The dimension of the space.
Max number of pairs of contact points from the same
contact manifold that can be solved as part of a
single contact constraint.
SIMD_WIDTH - 1
The number of lanes of a SIMD number.
The maximum number of possible rotations and translations of a rigid body.
The dimension of the space multiplied by two.
Traits
Trait implemented by structures responsible for handling events generated by the physics engine.
Abstraction over the storage type of an heightfield’s heights grid.
User-defined functions called by the physics engines during one timestep in order to customize its behavior.
Trait implemented by convex shapes with features with polyhedral approximations.
Trait implemented by shapes usable by Rapier.
Trait implemented by shapes composed of multiple simpler shapes.
Traits of convex shapes representable by a support mapping function.
Functions
Initializes and generate the velocity constraints applicable to the multibody links attached
to this multibody_joint.
Initializes and generate the velocity constraints applicable to the multibody links attached
to this multibody_joint.
Type Definitions
An axis-aligned bounding box.
The dimension of the rotations.
The angular vector type.
The angular inertia of a rigid body.
A ball shape.
BodyStatusDeprecated
The type of a body, governing the way it is affected by external forces.
A capsule shape.
Index of a node of the interaction graph.
The shape of a collider.
A cone shape.
A contact between two colliders.
A contact manifold between two colliders.
A matrix that represent the cross product with a given vector.
A cuboid shape.
A cylindrical shape.
A dynamically sized column-major matrix.
A dynamically sized column vector.
The dimension of the ambient space.
A heightfield shape.
The transformation matrix type.
The type of a constraint Jacobian in twist coordinates.
The type of a slice of the constraint Jacobian in twist coordinates.
The type of a mutable slice of the constraint Jacobian in twist coordinates.
The matrix type.
The orientation type.
The point type.
The the projection of a point on a collider.
The principal angular inertia of a rigid body.
A ray that can be cast against colliders.
The intersection between a ray and a collider.
The scalar type used throughout this crate.
Index of a node of the interaction graph.
The rotation matrix type.
A cone dilated by a sphere (so it has round corners).
A convex polyhedron dilated by a sphere (so it has round corners).
A cuboid dilated by a sphere (so it has round corners).
A cylinder dilated by a sphere (so it has round corners).
A triangle dilated by a sphere (so it has round corners).
A 3D symmetric-definite-positive matrix.
A segment shape.
A SIMD bool with SIMD_WIDTH lanes.
A SIMD float with SIMD_WIDTH lanes.
A vector with a dimension equal to the maximum number of degrees of freedom of a rigid body.
The dimension of a spatial vector.
The vector type with dimension
SpatialDim × 1.The the time of impact between two shapes.
Temporary index to and edge of the interaction graph.
The translation type.
A triangle shape.
The unit vector type.
The vector type.