Struct rapier3d::geometry::SharedShape [−][src]
The shape of a collider.
Implementations
impl SharedShape
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pub fn new(shape: impl Shape) -> SharedShape
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Wraps the given shape as a shared shape.
pub fn make_mut(&mut self) -> &mut (dyn Shape + 'static)
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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<f32, Unit<Quaternion<f32>>, 3_usize>, SharedShape), Global>
) -> SharedShape
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shapes: Vec<(Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, SharedShape), Global>
) -> SharedShape
Initialize a compound shape defined by its subshapes.
pub fn ball(radius: f32) -> SharedShape
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Initialize a ball shape defined by its radius.
pub fn halfspace(
outward_normal: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> SharedShape
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outward_normal: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> SharedShape
Initialize a plane shape defined by its outward normal.
pub fn cylinder(half_height: f32, radius: f32) -> SharedShape
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Initialize a cylindrical shape defined by its half-height (along along the y axis) and its radius.
pub fn round_cylinder(
half_height: f32,
radius: f32,
border_radius: f32
) -> SharedShape
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half_height: f32,
radius: f32,
border_radius: f32
) -> SharedShape
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: f32,
radius: f32,
border_radius: f32
) -> SharedShape
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half_height: f32,
radius: f32,
border_radius: f32
) -> SharedShape
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: f32, radius: f32) -> SharedShape
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Initialize a cone shape defined by its half-height (along along the y axis) and its basis radius.
pub fn cuboid(hx: f32, hy: f32, hz: f32) -> SharedShape
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Initialize a cuboid shape defined by its half-extents.
pub fn round_cuboid(
hx: f32,
hy: f32,
hz: f32,
border_radius: f32
) -> SharedShape
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hx: f32,
hy: f32,
hz: f32,
border_radius: f32
) -> SharedShape
Initialize a round cuboid shape defined by its half-extents and border radius.
pub fn capsule(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
radius: f32
) -> SharedShape
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a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
radius: f32
) -> SharedShape
Initialize a capsule shape from its endpoints and radius.
pub fn segment(a: Point<f32, 3_usize>, b: Point<f32, 3_usize>) -> SharedShape
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Initialize a segment shape from its endpoints.
pub fn triangle(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>
) -> SharedShape
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a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>
) -> SharedShape
Initializes a triangle shape.
pub fn round_triangle(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>,
border_radius: f32
) -> SharedShape
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a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>,
border_radius: f32
) -> SharedShape
Initializes a triangle shape with round corners.
pub fn polyline(
vertices: Vec<Point<f32, 3_usize>, Global>,
indices: Option<Vec<[u32; 2], Global>>
) -> SharedShape
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vertices: Vec<Point<f32, 3_usize>, Global>,
indices: Option<Vec<[u32; 2], Global>>
) -> SharedShape
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<f32, 3_usize>, Global>,
indices: Vec<[u32; 3], Global>
) -> SharedShape
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vertices: Vec<Point<f32, 3_usize>, Global>,
indices: Vec<[u32; 3], Global>
) -> SharedShape
Initializes a triangle mesh shape defined by its vertex and index buffers.
pub fn convex_decomposition(
vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]]
) -> SharedShape
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vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]]
) -> SharedShape
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<f32, 3_usize>],
indices: &[[u32; 3]],
border_radius: f32
) -> SharedShape
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vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]],
border_radius: f32
) -> SharedShape
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<f32, 3_usize>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> SharedShape
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vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> SharedShape
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<f32, 3_usize>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: f32
) -> SharedShape
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vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: f32
) -> SharedShape
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<f32, 3_usize>]) -> Option<SharedShape>
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Creates a new shared shape that is the convex-hull of the given points.
pub fn convex_mesh(
points: Vec<Point<f32, 3_usize>, Global>,
indices: &[[u32; 3]]
) -> Option<SharedShape>
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points: Vec<Point<f32, 3_usize>, Global>,
indices: &[[u32; 3]]
) -> Option<SharedShape>
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<f32, 3_usize>],
border_radius: f32
) -> Option<SharedShape>
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points: &[Point<f32, 3_usize>],
border_radius: f32
) -> Option<SharedShape>
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<f32, 3_usize>, Global>,
indices: &[[u32; 3]],
border_radius: f32
) -> Option<SharedShape>
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points: Vec<Point<f32, 3_usize>, Global>,
indices: &[[u32; 3]],
border_radius: f32
) -> Option<SharedShape>
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: Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>,
scale: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> SharedShape
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heights: Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>,
scale: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> SharedShape
Initializes an heightfield shape on the x-z plane defined by its set of height and a scale factor along each coordinate axis.
Methods from Deref<Target = dyn Shape + 'static>
pub fn as_shape<T>(&self) -> Option<&T> where
T: Shape,
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T: Shape,
Converts this abstract shape to the given shape, if it is one.
pub fn as_ball(&self) -> Option<&Ball>
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Converts this abstract shape to a ball, if it is one.
pub fn as_cuboid(&self) -> Option<&Cuboid>
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Converts this abstract shape to a cuboid, if it is one.
pub fn as_halfspace(&self) -> Option<&HalfSpace>
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Converts this abstract shape to a halfspace, if it is one.
pub fn as_segment(&self) -> Option<&Segment>
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Converts this abstract shape to a segment, if it is one.
pub fn as_capsule(&self) -> Option<&Capsule>
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Converts this abstract shape to a capsule, if it is one.
pub fn as_triangle(&self) -> Option<&Triangle>
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Converts this abstract shape to a triangle, if it is one.
pub fn as_compound(&self) -> Option<&Compound>
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Converts this abstract shape to a compound shape, if it is one.
pub fn as_trimesh(&self) -> Option<&TriMesh>
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Converts this abstract shape to a triangle mesh, if it is one.
pub fn as_polyline(&self) -> Option<&Polyline>
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Converts this abstract shape to a polyline, if it is one.
pub fn as_heightfield(&self) -> Option<&HeightField>
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Converts this abstract shape to a heightfield, if it is one.
pub fn as_round_cuboid(&self) -> Option<&RoundShape<Cuboid>>
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Converts this abstract shape to a round cuboid, if it is one.
pub fn as_round_triangle(&self) -> Option<&RoundShape<Triangle>>
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Converts this abstract shape to a round triangle, if it is one.
pub fn as_convex_polyhedron(&self) -> Option<&ConvexPolyhedron>
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pub fn as_cylinder(&self) -> Option<&Cylinder>
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Converts this abstract shape to a cylinder, if it is one.
pub fn as_cone(&self) -> Option<&Cone>
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Converts this abstract shape to a cone, if it is one.
pub fn as_round_cylinder(&self) -> Option<&RoundShape<Cylinder>>
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Converts this abstract shape to a round cylinder, if it is one.
pub fn as_round_cone(&self) -> Option<&RoundShape<Cone>>
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Converts this abstract shape to a round cone, if it is one.
pub fn as_round_convex_polyhedron(
&self
) -> Option<&RoundShape<ConvexPolyhedron>>
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&self
) -> Option<&RoundShape<ConvexPolyhedron>>
Converts this abstract shape to a round convex polyhedron, if it is one.
pub fn is<__T>(&self) -> bool where
__T: Shape,
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__T: Shape,
Returns true if the trait object wraps an object of type __T
.
pub fn downcast_rc<__T>(
self: Rc<dyn Shape + 'static>
) -> Result<Rc<__T>, Rc<dyn Shape + 'static>> where
__T: Shape,
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self: Rc<dyn Shape + 'static>
) -> Result<Rc<__T>, Rc<dyn Shape + 'static>> where
__T: Shape,
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>(&self) -> Option<&__T> where
__T: Shape,
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__T: Shape,
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>(
self: Arc<dyn Shape + 'static>
) -> Result<Arc<__T>, Arc<dyn Shape + 'static>> where
__T: Shape + Any + Send + Sync,
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self: Arc<dyn Shape + 'static>
) -> Result<Arc<__T>, Arc<dyn Shape + 'static>> where
__T: Shape + 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.
Trait Implementations
impl Clone for SharedShape
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pub fn clone(&self) -> SharedShape
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
impl Deref for SharedShape
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Auto Trait Implementations
impl !RefUnwindSafe for SharedShape
impl Send for SharedShape
impl Sync for SharedShape
impl Unpin for SharedShape
impl !UnwindSafe for SharedShape
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,