Struct heron::rapier_plugin::rapier3d::prelude::ColliderBuilder [−]
pub struct ColliderBuilder {Show 15 fields
pub shape: SharedShape,
pub density: Option<f32>,
pub mass_properties: Option<MassProperties>,
pub friction: f32,
pub friction_combine_rule: CoefficientCombineRule,
pub restitution: f32,
pub restitution_combine_rule: CoefficientCombineRule,
pub position: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>,
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,
}
Expand description
A structure responsible for building a new collider.
Fields
shape: SharedShape
The shape of the collider to be built.
density: Option<f32>
The uniform density of the collider to be built.
mass_properties: Option<MassProperties>
Overrides automatic computation of MassProperties
.
If None, it will be computed based on shape and density.
friction: f32
The friction coefficient of the collider to be built.
friction_combine_rule: CoefficientCombineRule
The rule used to combine two friction coefficients.
restitution: f32
The restitution coefficient of the collider to be built.
restitution_combine_rule: CoefficientCombineRule
The rule used to combine two restitution coefficients.
position: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
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.
Implementations
impl ColliderBuilder
impl ColliderBuilder
pub fn new(shape: SharedShape) -> ColliderBuilder
pub fn new(shape: SharedShape) -> ColliderBuilder
Initialize a new collider builder with the given shape.
pub fn compound(
shapes: Vec<(Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, SharedShape), Global>
) -> ColliderBuilder
pub fn compound(
shapes: Vec<(Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, SharedShape), Global>
) -> ColliderBuilder
Initialize a new collider builder with a compound shape.
pub fn ball(radius: f32) -> ColliderBuilder
pub fn ball(radius: f32) -> ColliderBuilder
Initialize a new collider builder with 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>>>
) -> ColliderBuilder
pub fn halfspace(
outward_normal: Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>>
) -> ColliderBuilder
Initialize a new collider build with a half-space shape defined by the outward normal of its planar boundary.
pub fn cylinder(half_height: f32, radius: f32) -> ColliderBuilder
pub fn cylinder(half_height: f32, radius: f32) -> ColliderBuilder
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: f32,
radius: f32,
border_radius: f32
) -> ColliderBuilder
pub fn round_cylinder(
half_height: f32,
radius: f32,
border_radius: f32
) -> ColliderBuilder
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: f32, radius: f32) -> ColliderBuilder
pub fn cone(half_height: f32, radius: f32) -> ColliderBuilder
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: f32,
radius: f32,
border_radius: f32
) -> ColliderBuilder
pub fn round_cone(
half_height: f32,
radius: f32,
border_radius: f32
) -> ColliderBuilder
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_x(half_height: f32, radius: f32) -> ColliderBuilder
pub fn capsule_x(half_height: f32, radius: f32) -> ColliderBuilder
Initialize a new collider builder with a capsule shape aligned with the x
axis.
pub fn capsule_y(half_height: f32, radius: f32) -> ColliderBuilder
pub fn capsule_y(half_height: f32, radius: f32) -> ColliderBuilder
Initialize a new collider builder with a capsule shape aligned with the y
axis.
pub fn capsule_z(half_height: f32, radius: f32) -> ColliderBuilder
pub fn capsule_z(half_height: f32, radius: f32) -> ColliderBuilder
Initialize a new collider builder with a capsule shape aligned with the z
axis.
pub fn cuboid(hx: f32, hy: f32, hz: f32) -> ColliderBuilder
pub fn cuboid(hx: f32, hy: f32, hz: f32) -> ColliderBuilder
Initialize a new collider builder with a cuboid shape defined by its half-extents.
pub fn round_cuboid(
hx: f32,
hy: f32,
hz: f32,
border_radius: f32
) -> ColliderBuilder
pub fn round_cuboid(
hx: f32,
hy: f32,
hz: f32,
border_radius: f32
) -> ColliderBuilder
Initialize a new collider builder with a round cuboid shape defined by its half-extents and border radius.
Initializes a collider builder with a segment shape.
Initializes a collider builder with a triangle shape.
Initializes a collider builder with a triangle shape with round corners.
Initializes a collider builder with a polyline shape defined by its vertex and index buffers.
Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
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.
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: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> ColliderBuilder
pub fn convex_decomposition_with_params(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> ColliderBuilder
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: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: f32
) -> ColliderBuilder
pub fn round_convex_decomposition_with_params(
vertices: &[OPoint<f32, Const<3_usize>>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: f32
) -> ColliderBuilder
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: &[OPoint<f32, Const<3_usize>>]
) -> Option<ColliderBuilder>
pub fn convex_hull(
points: &[OPoint<f32, Const<3_usize>>]
) -> Option<ColliderBuilder>
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: &[OPoint<f32, Const<3_usize>>],
border_radius: f32
) -> Option<ColliderBuilder>
pub fn round_convex_hull(
points: &[OPoint<f32, Const<3_usize>>],
border_radius: f32
) -> Option<ColliderBuilder>
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
.
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).
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: Matrix<f32, Dynamic, Dynamic, VecStorage<f32, Dynamic, Dynamic>>,
scale: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> ColliderBuilder
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>>
) -> ColliderBuilder
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() -> f32
pub fn default_friction() -> f32
The default friction coefficient used by the collider builder.
pub fn default_density() -> f32
pub fn default_density() -> f32
The default density used by the collider builder.
pub fn user_data(self, data: u128) -> ColliderBuilder
pub fn user_data(self, data: u128) -> ColliderBuilder
Sets an arbitrary user-defined 128-bit integer associated to the colliders built by this builder.
pub fn collision_groups(self, groups: InteractionGroups) -> ColliderBuilder
pub fn collision_groups(self, groups: InteractionGroups) -> ColliderBuilder
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) -> ColliderBuilder
pub fn solver_groups(self, groups: InteractionGroups) -> ColliderBuilder
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) -> ColliderBuilder
pub fn sensor(self, is_sensor: bool) -> ColliderBuilder
Sets whether or not the collider built by this builder is a sensor.
Sensors will have a default density of zero,
but if you call Self::mass_properties
you can assign a mass to a sensor.
pub fn active_hooks(self, active_hooks: ActiveHooks) -> ColliderBuilder
pub fn active_hooks(self, active_hooks: ActiveHooks) -> ColliderBuilder
The set of physics hooks enabled for this collider.
pub fn active_events(self, active_events: ActiveEvents) -> ColliderBuilder
pub fn active_events(self, active_events: ActiveEvents) -> ColliderBuilder
The set of events enabled for this collider.
pub fn active_collision_types(
self,
active_collision_types: ActiveCollisionTypes
) -> ColliderBuilder
pub fn active_collision_types(
self,
active_collision_types: ActiveCollisionTypes
) -> ColliderBuilder
The set of active collision types for this collider.
pub fn friction(self, friction: f32) -> ColliderBuilder
pub fn friction(self, friction: f32) -> ColliderBuilder
Sets the friction coefficient of the collider this builder will build.
pub fn friction_combine_rule(
self,
rule: CoefficientCombineRule
) -> ColliderBuilder
pub fn friction_combine_rule(
self,
rule: CoefficientCombineRule
) -> ColliderBuilder
Sets the rule to be used to combine two friction coefficients in a contact.
pub fn restitution(self, restitution: f32) -> ColliderBuilder
pub fn restitution(self, restitution: f32) -> ColliderBuilder
Sets the restitution coefficient of the collider this builder will build.
pub fn restitution_combine_rule(
self,
rule: CoefficientCombineRule
) -> ColliderBuilder
pub fn restitution_combine_rule(
self,
rule: CoefficientCombineRule
) -> ColliderBuilder
Sets the rule to be used to combine two restitution coefficients in a contact.
pub fn density(self, density: f32) -> ColliderBuilder
pub fn density(self, density: f32) -> ColliderBuilder
Sets the uniform density of the collider this builder will build.
This will be overridden by a call to Self::mass_properties
so it only makes sense to call
either Self::density
or Self::mass_properties
.
pub fn mass_properties(self, mass_properties: MassProperties) -> ColliderBuilder
pub fn mass_properties(self, mass_properties: MassProperties) -> ColliderBuilder
Sets the mass properties of the collider this builder will build.
If this is set, Self::density
will be ignored, so it only makes sense to call
either Self::density
or Self::mass_properties
.
pub fn translation(
self,
translation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> ColliderBuilder
pub fn translation(
self,
translation: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> ColliderBuilder
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: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> ColliderBuilder
pub fn rotation(
self,
angle: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> ColliderBuilder
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<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
pub fn position(
self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
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<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
👎 Deprecated: Use .position
instead.
pub fn position_wrt_parent(
self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
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<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
👎 Deprecated: Use .position
instead.
pub fn delta(
self,
delta: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
Use .position
instead.
Set the position of this collider in the local-space of the rigid-body it is attached to.
Builds all the components required by a collider.
Trait Implementations
impl Clone for ColliderBuilder
impl Clone for ColliderBuilder
pub fn clone(&self) -> ColliderBuilder
pub fn clone(&self) -> ColliderBuilder
Returns a copy of the value. Read more
Performs copy-assignment from source
. Read more
Auto Trait Implementations
impl !RefUnwindSafe for ColliderBuilder
impl Send for ColliderBuilder
impl Sync for ColliderBuilder
impl Unpin for ColliderBuilder
impl !UnwindSafe for ColliderBuilder
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
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to this type, returning a
WithDispatch
wrapper. Read more