Trait parry2d::shape::Shape

pub trait Shape: RayCast + PointQuery + DowncastSync {
    fn compute_local_aabb(&self) -> AABB;
    fn mass_properties(&self, density: Real) -> MassProperties;
    fn shape_type(&self) -> ShapeType;
    fn ccd_thickness(&self) -> Real;

    fn compute_aabb(&self, position: &Isometry<Real>) -> AABB { ... }
    fn is_convex(&self) -> bool { ... }
    fn as_support_map(&self) -> Option<&dyn SupportMap> { ... }
    fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape> { ... }
    fn as_polygonal_feature_map(
        &self
    ) -> Option<(&dyn PolygonalFeatureMap, Real)> { ... }
    fn feature_normal_at_point(
        &self, 
        _feature: FeatureId, 
        _point: &Point<Real>
    ) -> Option<Unit<Vector<Real>>> { ... }
}

Trait implemented by shapes usable by Rapier.

Required methods

fn compute_local_aabb(&self) -> AABB

Computes the AABB of this shape.

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

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

fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.

fn ccd_thickness(&self) -> Real

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Provided methods

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

Computes the AABB of this shape with the given position.

fn is_convex(&self) -> bool

Is this shape known to be convex?

If this returns true then self is known to be convex. If this returns false then it is not known whether or not self is convex.

fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

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

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

fn feature_normal_at_point(
    &self,
    _feature: FeatureId,
    _point: &Point<Real>
) -> Option<Unit<Vector<Real>>>

The shape's normal at the given point located on a specific feature.

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Implementations

impl dyn Shape

pub fn is<__T: Shape>(&self) -> bool

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

pub fn downcast<__T: Shape>(self: Box<Self>) -> Result<Box<__T>, Box<Self>>

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: 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_mut<__T: Shape>(&mut self) -> Option<&mut __T>

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: 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.

impl dyn Shape

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_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>

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

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

Implementors

impl Shape for Ball

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn ccd_thickness(&self) -> Real

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn as_support_map(&self) -> Option<&dyn SupportMap>

impl Shape for Capsule

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

impl Shape for Compound

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

impl Shape for ConvexPolygon

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

impl Shape for Cuboid

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

impl Shape for HalfSpace

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

fn is_convex(&self) -> bool

fn ccd_thickness(&self) -> Real

fn mass_properties(&self, _: Real) -> MassProperties

fn shape_type(&self) -> ShapeType

impl Shape for HeightField

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

impl Shape for Polyline

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

impl Shape for RoundShape<ConvexPolygon>

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

impl Shape for RoundShape<Cuboid>

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

impl Shape for RoundShape<Triangle>

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

impl Shape for Segment

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn ccd_thickness(&self) -> Real

fn shape_type(&self) -> ShapeType

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

impl Shape for TriMesh

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

impl Shape for Triangle

fn compute_local_aabb(&self) -> AABB

fn compute_aabb(&self, position: &Isometry<Real>) -> AABB

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

fn is_convex(&self) -> bool

fn shape_type(&self) -> ShapeType

fn ccd_thickness(&self) -> Real

fn as_support_map(&self) -> Option<&dyn SupportMap>

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

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