Struct parry3d_f64::shape::SharedShape

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

The shape of a collider.

Tuple Fields

0: Arc<dyn Shape>

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 cylinder(half_height: Real, radius: Real) -> Self

Initialize a cylindrical shape defined by its half-height (along along the y axis) and its radius.

pub fn round_cylinder( half_height: Real, radius: Real, border_radius: Real ) -> Self

Initialize a rounded cylindrical shape defined by its half-height (along along the y axis), its radius, and its roundedness (the radius of the sphere used for dilating the cylinder).

pub fn round_cone(half_height: Real, radius: Real, border_radius: Real) -> Self

Initialize a rounded cone shape defined by its half-height (along along the y axis), its radius, and its roundedness (the radius of the sphere used for dilating the cylinder).

pub fn cone(half_height: Real, radius: Real) -> Self

Initialize a cone shape defined by its half-height (along along the y axis) and its basis radius.

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

Initialize a cuboid shape defined by its half-extents.

pub fn round_cuboid(hx: Real, hy: Real, hz: 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 capsule_x(half_height: Real, radius: Real) -> Self

Initialize a capsule shape aligned with the x axis.

pub fn capsule_y(half_height: Real, radius: Real) -> Self

Initialize a capsule shape aligned with the y axis.

pub fn capsule_z(half_height: Real, radius: Real) -> Self

Initialize a capsule shape aligned with the z axis.

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 trimesh_with_flags( vertices: Vec<Point<Real>>, indices: Vec<[u32; 3]>, flags: TriMeshFlags ) -> Self

Initializes a triangle mesh shape defined by its vertex and index buffers and pre-processing flags.

pub fn convex_decomposition( vertices: &[Point<Real>], indices: &[[u32; 3]] ) -> 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; 3]], 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; 3]], 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; 3]], 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_mesh( points: Vec<Point<Real>>, indices: &[[u32; 3]] ) -> Option<Self>

Creates a new shared shape that is a convex polyhedron formed by the given set of points assumed to form a convex mesh (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_mesh( points: Vec<Point<Real>>, indices: &[[u32; 3]], border_radius: Real ) -> Option<Self>

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

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

Initializes a heightfield shape on the x-z plane defined by its set of height and a scale factor along each coordinate axis.

pub fn heightfield_with_flags( heights: DMatrix<Real>, scale: Vector<Real>, flags: HeightFieldFlags ) -> Self

Initializes a heightfield shape on the x-z plane defined by its set of height, a scale factor along each coordinate axis, and HeightFieldFlags.

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 + Any + Send + Sync>( self: Arc<Self> ) -> Result<Arc<__T>, Arc<Self>>

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_polyhedron(&self) -> Option<&ConvexPolyhedron>

pub fn as_cylinder(&self) -> Option<&Cylinder>

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

pub fn as_cone(&self) -> Option<&Cone>

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

pub fn as_round_cylinder(&self) -> Option<&RoundCylinder>

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

pub fn as_round_cone(&self) -> Option<&RoundCone>

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

pub fn as_round_convex_polyhedron(&self) -> Option<&RoundConvexPolyhedron>

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

Trait Implementations

impl AsRef<dyn Shape> for SharedShape

fn as_ref(&self) -> &dyn Shape

Converts this type into a shared reference of the (usually inferred) input type.

impl Clone for SharedShape

fn clone(&self) -> SharedShape

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for SharedShape

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Deref for SharedShape

type Target = dyn Shape

The resulting type after dereferencing.

fn deref(&self) -> &dyn Shape

Dereferences the value.