Struct nphysics2d::object::Sensor

pub struct Sensor<N: Real> { /* fields omitted */ }

An object capable of detecting interferances with other entities without interacting with them.

Methods

impl<N: Real> Sensor<N>

fn new<G>(shape: G, parent: Option<RigidBodyHandle<N>>) -> Sensor<N> where
    G: Send + Sync + Shape<Point<N>, Isometry<N>>, 

Creates a new sensor.

A sensor may either be attached to the rigid body parent, or be attached to the ground. If it has a parent, it will have a position relative to it. If the parent moves, the sensor will automatically move as well. By default, a sensor does not trigger any proximity event when it intersects its own parent.

A sensor has a default margin equal to zero.

fn new_with_shared_shape(
    shape: ShapeHandle<Point<N>, Isometry<N>>,
    parent: Option<RigidBodyHandle<N>>
) -> Sensor<N>

Creates a new senson with a given shared shape.

fn user_data(&self) -> Option<&Box<Any>>

Reference to user-defined data attached to this sensor.

fn user_data_mut(&mut self) -> Option<&mut Box<Any>>

Mutable reference to user-defined data attached to this sensor.

fn set_user_data(&mut self, user_data: Option<Box<Any>>) -> Option<Box<Any>>

Attach some user-defined data to this sensor and return the old one.

fn enable_interfering_bodies_collection(&mut self)

Enables the collection of all body handles that intersect this sensor.

fn enable_interfering_sensors_collection(&mut self)

Enables the collection of all body handles that intersect this sensor.

fn disable_interfering_bodies_collection(&mut self)

Disables the collection of all body handles that intersect this sensor.

fn disable_interfering_sensors_collection(&mut self)

Disables the collection of all body handles that intersect this sensor.

fn interfering_bodies(&self) -> Option<RigidBodies<N>>

List of rigid bodies geometrically intersecting this sensor.

fn interfering_sensors(&self) -> Option<Sensors<N>>

List of sensors geometrically intersecting this sensor.

fn relative_position(&self) -> &Isometry<N>

This sensor's position relative to self.parent().

If this sensor has no parent, then this relative position is actually the sensor absolute position.

fn set_relative_position(&mut self, rel_pos: Isometry<N>)

Sets the sensor position relative to self.parent().

If self.parent() is None, then this sets the sensor's absolute position.

fn position(&self) -> Isometry<N>

This sensor's absolute position.

fn set_position(&mut self, abs_pos: Isometry<N>)

Sets the sensor absolute position.

If self.parent() is not None, then this automatically computes the relevant relative position and updates it.

fn center(&self) -> Point<N>

This sensor position's translational component.

fn margin(&self) -> N

The collision margin of this sensor's shape.

This is set to zero by default.

fn proximity_with_parent_enabled(&self) -> bool

Whether or not proximity detection between this sensor and its parent is enabled.

fn enable_proximity_with_parent(&mut self)

Enables proximity detection between this sensor and its parent if it has one.

fn disable_proximity_with_parent(&mut self)

Disables proximity detection between this sensor and its parent if it has one.

fn parent(&self) -> Option<&RigidBodyHandle<N>>

The rigid body to which this sensor is kinematically attached.

Returns None if this sensor is directly attached to the scene.

fn shape(&self) -> &ShapeHandle<Point<N>, Isometry<N>>

A reference of this sensor's shared shape.

fn collision_groups(&self) -> &SensorCollisionGroups

This sensor's collision groups.

fn set_collision_groups(&mut self, new_groups: SensorCollisionGroups)

Set this sensor's collision groups.