Struct parry2d_f64::shape::SharedShape

pub struct SharedShape(pub Arc<dyn Shape>);

The shape of a collider.

Implementations

impl SharedShape

pub fn new(shape: impl Shape) -> Self

Wraps the given shape as a shared shape.

pub fn make_mut(&mut self) -> &mut dyn Shape

If this shape is shared, then the content of self is cloned into a unique instance, and a mutable reference to that instance is returned.

pub fn compound(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Self

Initialize a compound shape defined by its subshapes.

pub fn ball(radius: Real) -> Self

Initialize a ball shape defined by its radius.

pub fn halfspace(outward_normal: Unit<Vector<Real>>) -> Self

Initialize a plane shape defined by its outward normal.

pub fn cuboid(hx: Real, hy: Real) -> Self

Initialize a cuboid shape defined by its half-extents.

pub fn round_cuboid(hx: Real, hy: Real, border_radius: Real) -> Self

Initialize a round cuboid shape defined by its half-extents and border radius.

pub fn capsule(a: Point<Real>, b: Point<Real>, radius: Real) -> Self

Initialize a capsule shape from its endpoints and radius.

pub fn segment(a: Point<Real>, b: Point<Real>) -> Self

Initialize a segment shape from its endpoints.

pub fn triangle(a: Point<Real>, b: Point<Real>, c: Point<Real>) -> Self

Initializes a triangle shape.

pub fn round_triangle(
    a: Point<Real>,
    b: Point<Real>,
    c: Point<Real>,
    border_radius: Real
) -> Self

Initializes a triangle shape with round corners.

pub fn polyline(
    vertices: Vec<Point<Real>>,
    indices: Option<Vec<[u32; 2]>>
) -> Self

Initializes a polyline shape defined by its vertex and index buffers.

If no index buffer is provided, the polyline is assumed to describe a line strip.

pub fn trimesh(vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>) -> Self

Initializes a triangle mesh shape defined by its vertex and index buffers.

pub fn convex_decomposition(
    vertices: &[Point<Real>],
    indices: &[[u32; 2]]
) -> Self

Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.

pub fn round_convex_decomposition(
    vertices: &[Point<Real>],
    indices: &[[u32; 2]],
    border_radius: Real
) -> Self

Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.

pub fn convex_decomposition_with_params(
    vertices: &[Point<Real>],
    indices: &[[u32; 2]],
    params: &VHACDParameters
) -> Self

Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts.

pub fn round_convex_decomposition_with_params(
    vertices: &[Point<Real>],
    indices: &[[u32; 2]],
    params: &VHACDParameters,
    border_radius: Real
) -> Self

Initializes a compound shape obtained from the decomposition of the given trimesh (in 3D) or polyline (in 2D) into convex parts dilated with round corners.

pub fn convex_hull(points: &[Point<Real>]) -> Option<Self>

Creates a new shared shape that is the convex-hull of the given points.

pub fn convex_polyline(points: Vec<Point<Real>>) -> Option<Self>

Creates a new shared shape that is a convex polygon formed by the given set of points assumed to form a convex polyline (no convex-hull will be automatically computed).

pub fn round_convex_hull(
    points: &[Point<Real>],
    border_radius: Real
) -> Option<Self>

Creates a new shared shape with rounded corners that is the convex-hull of the given points, dilated by border_radius.

pub fn round_convex_polyline(
    points: Vec<Point<Real>>,
    border_radius: Real
) -> Option<Self>

Creates a new shared shape with round corners that is a convex polygon formed by the given set of points assumed to form a convex polyline (no convex-hull will be automatically computed).

pub fn heightfield(heights: DVector<Real>, scale: Vector<Real>) -> Self

Initializes an heightfield shape defined by its set of height and a scale factor along each coordinate axis.

Methods from Deref<Target = dyn Shape>

pub fn is<__T: Shape>(&self) -> bool

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

pub fn downcast_rc<__T: Shape>(self: Rc<Self>) -> Result<Rc<__T>, Rc<Self>>

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: Shape>(&self) -> Option<&__T>

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_arc<__T: Shape>(self: Arc<Self>) -> Result<Arc<__T>, Arc<Self>> where
    __T: 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.

pub fn as_shape<T: Shape>(&self) -> Option<&T>

Converts this abstract shape to the given shape, if it is one.

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

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

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

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

pub fn as_halfspace(&self) -> Option<&HalfSpace>

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

pub fn as_segment(&self) -> Option<&Segment>

Converts this abstract shape to a segment, 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>

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

pub fn as_compound(&self) -> Option<&Compound>

Converts this abstract shape to a compound shape, 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_polyline(&self) -> Option<&Polyline>

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

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

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

pub fn as_round_cuboid(&self) -> Option<&RoundCuboid>

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

pub fn as_round_triangle(&self) -> Option<&RoundTriangle>

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

pub fn as_convex_polygon(&self) -> Option<&ConvexPolygon>

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

pub fn as_round_convex_polygon(&self) -> Option<&RoundConvexPolygon>

Converts this abstract shape to a round convex polygon, if it is one.

Trait Implementations

impl Clone for SharedShape

fn clone(&self) -> SharedShape

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Deref for SharedShape

type Target = dyn Shape

The resulting type after dereferencing.

fn deref(&self) -> &dyn Shape

Dereferences the value.