Struct rapier3d::geometry::ColliderBuilder

pub struct ColliderBuilder {

    pub shape: SharedShape,
    pub mass_properties: ColliderMassProps,
    pub friction: Real,
    pub friction_combine_rule: CoefficientCombineRule,
    pub restitution: Real,
    pub restitution_combine_rule: CoefficientCombineRule,
    pub position: Isometry<Real>,
    pub is_sensor: bool,
    pub active_collision_types: ActiveCollisionTypes,
    pub active_hooks: ActiveHooks,
    pub active_events: ActiveEvents,
    pub user_data: u128,
    pub collision_groups: InteractionGroups,
    pub solver_groups: InteractionGroups,
    pub enabled: bool,
    pub contact_force_event_threshold: Real,
    pub contact_skin: Real,
}

A structure responsible for building a new collider.

Fields

shape: SharedShape

The shape of the collider to be built.

mass_properties: ColliderMassProps

Controls the way the collider’s mass-properties are computed.

friction: Real

The friction coefficient of the collider to be built.

friction_combine_rule: CoefficientCombineRule

The rule used to combine two friction coefficients.

restitution: Real

The restitution coefficient of the collider to be built.

restitution_combine_rule: CoefficientCombineRule

The rule used to combine two restitution coefficients.

position: Isometry<Real>

The position of this collider.

is_sensor: bool

Is this collider a sensor?

active_collision_types: ActiveCollisionTypes

Contact pairs enabled for this collider.

active_hooks: ActiveHooks

Physics hooks enabled for this collider.

active_events: ActiveEvents

Events enabled for this collider.

user_data: u128

The user-data of the collider being built.

collision_groups: InteractionGroups

The collision groups for the collider being built.

solver_groups: InteractionGroups

The solver groups for the collider being built.

enabled: bool

Will the collider being built be enabled?

contact_force_event_threshold: Real

The total force magnitude beyond which a contact force event can be emitted.

contact_skin: Real

An extra thickness around the collider shape to keep them further apart when colliding.

Implementations

impl ColliderBuilder

pub fn new(shape: SharedShape) -> Self

Initialize a new collider builder with the given shape.

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

Initialize a new collider builder with a compound shape.

pub fn ball(radius: Real) -> Self

Initialize a new collider builder with a ball shape defined by its radius.

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

Initialize a new collider build with a half-space shape defined by the outward normal of its planar boundary.

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

Initialize a new collider builder with 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 new collider builder with 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 cone(half_height: Real, radius: Real) -> Self

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

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

Initialize a new collider builder with 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 capsule_from_endpoints( a: Point<Real>, b: Point<Real>, radius: Real ) -> Self

Initialize a new collider builder with a capsule defined from its endpoints.

See also ColliderBuilder::capsule_x, ColliderBuilder::capsule_y, and ColliderBuilder::capsule_z, for a simpler way to build capsules with common orientations.

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

Initialize a new collider builder with a capsule shape aligned with the x axis.

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

Initialize a new collider builder with a capsule shape aligned with the y axis.

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

Initialize a new collider builder with a capsule shape aligned with the z axis.

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

Initialize a new collider builder with a cuboid shape defined by its half-extents.

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

Initialize a new collider builder with a round cuboid shape defined by its half-extents and border radius.

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

Initializes a collider builder with a segment shape.

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

Initializes a collider builder with a triangle shape.

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

Initializes a collider builder with a triangle shape with round corners.

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

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

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

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

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

Initializes a collider builder with 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 collider builder with 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 collider builder with 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 collider builder with 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>

Initializes a new collider builder with a 2D convex polygon or 3D convex polyhedron obtained after computing the convex-hull of the given points.

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

Initializes a new collider builder with a round 2D convex polygon or 3D convex polyhedron obtained after computing the convex-hull of the given points. The shape is dilated by a sphere of radius border_radius.

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

Creates a new collider builder that is a convex polyhedron formed by the given triangle-mesh assumed to be convex (no convex-hull will be automatically computed).

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

Creates a new collider builder that is a round convex polyhedron formed by the given triangle-mesh assumed to be convex (no convex-hull will be automatically computed). The triangle mesh shape is dilated by a sphere of radius border_radius.

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

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

pub fn default_friction() -> Real

The default friction coefficient used by the collider builder.

pub fn default_density() -> Real

The default density used by the collider builder.

pub fn user_data(self, data: u128) -> Self

Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.

pub fn collision_groups(self, groups: InteractionGroups) -> Self

Sets the collision groups used by this collider.

Two colliders will interact iff. their collision groups are compatible. See InteractionGroups::test for details.

pub fn solver_groups(self, groups: InteractionGroups) -> Self

Sets the solver groups used by this collider.

Forces between two colliders in contact will be computed iff their solver groups are compatible. See InteractionGroups::test for details.

pub fn sensor(self, is_sensor: bool) -> Self

Sets whether or not the collider built by this builder is a sensor.

pub fn active_hooks(self, active_hooks: ActiveHooks) -> Self

The set of physics hooks enabled for this collider.

pub fn active_events(self, active_events: ActiveEvents) -> Self

The set of events enabled for this collider.

pub fn active_collision_types( self, active_collision_types: ActiveCollisionTypes ) -> Self

The set of active collision types for this collider.

pub fn friction(self, friction: Real) -> Self

Sets the friction coefficient of the collider this builder will build.

pub fn friction_combine_rule(self, rule: CoefficientCombineRule) -> Self

Sets the rule to be used to combine two friction coefficients in a contact.

pub fn restitution(self, restitution: Real) -> Self

Sets the restitution coefficient of the collider this builder will build.

pub fn restitution_combine_rule(self, rule: CoefficientCombineRule) -> Self

Sets the rule to be used to combine two restitution coefficients in a contact.

pub fn density(self, density: Real) -> Self

Sets the uniform density of the collider this builder will build.

This will be overridden by a call to Self::mass or Self::mass_properties so it only makes sense to call either Self::density or Self::mass or Self::mass_properties.

The mass and angular inertia of this collider will be computed automatically based on its shape.

pub fn mass(self, mass: Real) -> Self

Sets the mass of the collider this builder will build.

This will be overridden by a call to Self::density or Self::mass_properties so it only makes sense to call either Self::density or Self::mass or Self::mass_properties.

The angular inertia of this collider will be computed automatically based on its shape and this mass value.

pub fn mass_properties(self, mass_properties: MassProperties) -> Self

Sets the mass properties of the collider this builder will build.

This will be overridden by a call to Self::density or Self::mass so it only makes sense to call either Self::density or Self::mass or Self::mass_properties.

pub fn contact_force_event_threshold(self, threshold: Real) -> Self

Sets the total force magnitude beyond which a contact force event can be emitted.

pub fn translation(self, translation: Vector<Real>) -> Self

Sets the initial translation of the collider to be created.

If the collider will be attached to a rigid-body, this sets the translation relative to the rigid-body it will be attached to.

pub fn rotation(self, angle: AngVector<Real>) -> Self

Sets the initial orientation of the collider to be created.

If the collider will be attached to a rigid-body, this sets the orientation relative to the rigid-body it will be attached to.

pub fn position(self, pos: Isometry<Real>) -> Self

Sets the initial position (translation and orientation) of the collider to be created.

If the collider will be attached to a rigid-body, this sets the position relative to the rigid-body it will be attached to.

pub fn position_wrt_parent(self, pos: Isometry<Real>) -> Self

👎Deprecated: Use .position instead.

Sets the initial position (translation and orientation) of the collider to be created, relative to the rigid-body it is attached to.

pub fn delta(self, delta: Isometry<Real>) -> Self

👎Deprecated: Use .position instead.

Set the position of this collider in the local-space of the rigid-body it is attached to.

pub fn contact_skin(self, skin_thickness: Real) -> Self

Sets the contact skin of the collider.

The contact skin acts as if the collider was enlarged with a skin of width skin_thickness around it, keeping objects further apart when colliding.

A non-zero contact skin can increase performance, and in some cases, stability. However it creates a small gap between colliding object (equal to the sum of their skin). If the skin is sufficiently small, this might not be visually significant or can be hidden by the rendering assets.

pub fn enabled(self, enabled: bool) -> Self

Enable or disable the collider after its creation.

pub fn build(&self) -> Collider

Builds a new collider attached to the given rigid-body.

Trait Implementations

impl Clone for ColliderBuilder

fn clone(&self) -> ColliderBuilder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<'de> Deserialize<'de> for ColliderBuilder

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<ColliderBuilder> for Collider

fn from(val: ColliderBuilder) -> Collider

Converts to this type from the input type.

impl Serialize for ColliderBuilder

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.