Struct heron::rapier_plugin::rapier::geometry::Collider

pub struct Collider {
    pub friction: f32,
    pub restitution: f32,
    pub user_data: u128,
    // some fields omitted
}

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

To build a new collider, use the ColliderBuilder structure.

Fields

friction: f32

The friction coefficient of this collider.

restitution: f32

The restitution coefficient of this collider.

user_data: u128

User-defined data associated to this rigid-body.

Implementations

impl Collider

pub fn parent(&self) -> RigidBodyHandle

The rigid body this collider is attached to.

pub fn is_sensor(&self) -> bool

Is this collider a sensor?

pub fn friction_combine_rule(&self) -> CoefficientCombineRule

The combine rule used by this collider to combine its friction coefficient with the friction coefficient of the other collider it is in contact with.

pub fn set_friction_combine_rule(&mut self, rule: CoefficientCombineRule)

Sets the combine rule used by this collider to combine its friction coefficient with the friction coefficient of the other collider it is in contact with.

pub fn restitution_combine_rule(&self) -> CoefficientCombineRule

The combine rule used by this collider to combine its restitution coefficient with the restitution coefficient of the other collider it is in contact with.

pub fn set_restitution_combine_rule(&mut self, rule: CoefficientCombineRule)

Sets the combine rule used by this collider to combine its restitution coefficient with the restitution coefficient of the other collider it is in contact with.

pub fn set_sensor(&mut self, is_sensor: bool)

Sets whether or not this is a sensor collider.

pub fn delta(&self) -> &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>

👎 Deprecated:

use .position_wrt_parent() instead.

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

pub fn position(&self) -> &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>

The world-space position of this collider.

pub fn position_wrt_parent(
    &self
) -> &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>

The position of this collider wrt the body it is attached to.

pub fn set_position_wrt_parent(
    &mut self,
    position: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
)

Sets the position of this collider wrt. its parent rigid-body.

pub fn collision_groups(&self) -> InteractionGroups

The collision groups used by this collider.

pub fn set_collision_groups(&mut self, groups: InteractionGroups)

Sets the collision groups of this collider.

pub fn solver_groups(&self) -> InteractionGroups

The solver groups used by this collider.

pub fn set_solver_groups(&mut self, groups: InteractionGroups)

Sets the solver groups of this collider.

pub fn density(&self) -> Option<f32>

The density of this collider, if set.

pub fn shape(&self) -> &(dyn Shape + 'static)

The geometric shape of this collider.

pub fn shape_mut(&mut self) -> &mut (dyn Shape + 'static)

A mutable reference to the geometric shape of this collider.

If that shape is shared by multiple colliders, it will be cloned first so that self contains a unique copy of that shape that you can modify.

pub fn set_shape(&mut self, shape: SharedShape)

Sets the shape of this collider.

pub fn compute_aabb(&self) -> AABB

Compute the axis-aligned bounding box of this collider.

pub fn compute_swept_aabb(
    &self,
    next_position: &Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> AABB

Compute the axis-aligned bounding box of this collider.

pub fn mass_properties(&self) -> MassProperties

Compute the local-space mass properties of this collider.

Trait Implementations

impl Clone for Collider

pub fn clone(&self) -> Collider

Returns a copy of the value.

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

Performs copy-assignment from source.