[][src]Module rapier3d::geometry

Structures related to geometry: colliders, shapes, etc.

Structs

BroadPhase

A broad-phase based on multiple Sweep-and-Prune instances running of disjoint region of the 3D world.

Capsule

A capsule shape defined as a round segment.

Collider

A geometric entity that can be attached to a body so it can be affected by contacts and proximity queries.

ColliderBuilder

A structure responsible for building a new collider.

ColliderSet

A set of colliders that can be handled by a physics World.

ColliderShape

The shape of a collider.

Contact

A single contact between two collider.

ContactKinematics

Local contact geometry at the neighborhood of a pair of contact points.

ContactManifold

A contact manifold between two colliders.

ContactPair

The description of all the contacts between a pair of colliders.

DefaultContactDispatcher

The default contact dispatcher used by Rapier.

DefaultProximityDispatcher

The default proximity dispatcher used by Rapier.

InteractionGraph

A graph where nodes are collision objects and edges are contact or proximity algorithms.

InteractionGroups

Pairwise filtering using bit masks.

NarrowPhase

The narrow-phase responsible for computing precise contact information between colliders.

PairFilterContext

Context given to custom collision filters to filter-out collisions.

Polygon

A convex planar polygon.

ProximityPair

The description of the proximity of two colliders.

RoundCylinder

A rounded cylinder.

SolverFlags

Flags affecting the behavior of the constraints solver for a given contact manifold.

Trimesh

A triangle mesh.

Enums

KinematicsCategory

The type local linear approximation of the neighborhood of a pair contact points on two shapes

Proximity

Proximity information.

ShapeType

Enum representing the type of a shape.

Traits

ContactDispatcher

Trait implemented by structures responsible for selecting a collision-detection algorithm for a given pair of shapes.

ContactPairFilter

User-defined filter for potential contact pairs detected by the broad-phase.

ProximityDispatcher

Trait implemented by structures responsible for selecting a collision-detection algorithm for a given pair of shapes.

ProximityPairFilter

User-defined filter for potential proximity pairs detected by the broad-phase.

Shape

Trait implemented by shapes usable by Rapier.

Type Definitions

AABB

An axis-aligned bounding box.

Ball

A ball shape.

ColliderGraphIndex

Index of a node of the interaction graph.

ColliderHandle

The unique identifier of a collider added to a collider set.

Cone

A cone shape.

ContactEvent

Event triggered when two non-sensor colliders start or stop being in contact.

Cuboid

A cuboid shape.

Cylinder

A cylindrical shape.

HeightField

A heightfield shape.

PointProjection

The the projection of a point on a collider.

ProximityEvent

Event triggered when a sensor collider starts or stop being in proximity with another collider (sensor or not).

Ray

A ray that can be cast against colliders.

RayIntersection

The intersection between a ray and a collider.

RigidBodyGraphIndex

Index of a node of the interaction graph.

Segment

A segment shape.

TemporaryInteractionIndex

Temporary index to and edge of the interaction graph.

Triangle

A triangle shape.