Struct heron::rapier_plugin::rapier::geometry::ColliderBuilder [−]
pub struct ColliderBuilder { pub shape: SharedShape, pub friction: f32, pub friction_combine_rule: CoefficientCombineRule, pub restitution: f32, pub restitution_combine_rule: CoefficientCombineRule, pub delta: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>, pub is_sensor: bool, pub modify_solver_contacts: bool, pub user_data: u128, pub collision_groups: InteractionGroups, pub solver_groups: InteractionGroups, // some fields omitted }
A structure responsible for building a new collider.
Fields
shape: SharedShape
The shape of the collider to be built.
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.
delta: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
The position of this collider relative to the local frame of the rigid-body it is attached to.
is_sensor: bool
Is this collider a sensor?
modify_solver_contacts: bool
Do we have to always call the contact modifier on 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
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
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
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
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
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
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
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
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
Initialize a new collider builder with a capsule shape aligned with the x
axis.
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
Initialize a new collider builder with a capsule shape aligned with the z
axis.
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
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.
pub fn segment(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>
) -> ColliderBuilder
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>
) -> ColliderBuilder
Initializes a collider builder with a segment shape.
pub fn triangle(
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>
) -> ColliderBuilder
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>
) -> ColliderBuilder
Initializes a collider builder with 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
) -> ColliderBuilder
a: Point<f32, 3_usize>,
b: Point<f32, 3_usize>,
c: Point<f32, 3_usize>,
border_radius: f32
) -> ColliderBuilder
Initializes a collider builder with a triangle shape with round corners.
pub fn polyline(
vertices: Vec<Point<f32, 3_usize>, Global>,
indices: Option<Vec<[u32; 2], Global>>
) -> ColliderBuilder
vertices: Vec<Point<f32, 3_usize>, Global>,
indices: Option<Vec<[u32; 2], Global>>
) -> ColliderBuilder
Initializes a collider builder with a polyline shape defined by its vertex and index buffers.
pub fn trimesh(
vertices: Vec<Point<f32, 3_usize>, Global>,
indices: Vec<[u32; 3], Global>
) -> ColliderBuilder
vertices: Vec<Point<f32, 3_usize>, Global>,
indices: Vec<[u32; 3], Global>
) -> ColliderBuilder
Initializes a collider builder with a triangle mesh shape defined by its vertex and index buffers.
pub fn convex_decomposition(
vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]]
) -> ColliderBuilder
vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]]
) -> 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(
vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]],
border_radius: f32
) -> ColliderBuilder
vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]],
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_decomposition_with_params(
vertices: &[Point<f32, 3_usize>],
indices: &[[u32; 3]],
params: &VHACDParameters
) -> ColliderBuilder
vertices: &[Point<f32, 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: &[Point<f32, 3_usize>],
indices: &[[u32; 3]],
params: &VHACDParameters,
border_radius: f32
) -> ColliderBuilder
vertices: &[Point<f32, 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: &[Point<f32, 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: &[Point<f32, 3_usize>],
border_radius: f32
) -> Option<ColliderBuilder>
points: &[Point<f32, 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
.
pub fn convex_mesh(
points: Vec<Point<f32, 3_usize>, Global>,
indices: &[[u32; 3]]
) -> Option<ColliderBuilder>
points: Vec<Point<f32, 3_usize>, Global>,
indices: &[[u32; 3]]
) -> Option<ColliderBuilder>
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<f32, 3_usize>, Global>,
indices: &[[u32; 3]],
border_radius: f32
) -> Option<ColliderBuilder>
points: Vec<Point<f32, 3_usize>, Global>,
indices: &[[u32; 3]],
border_radius: f32
) -> Option<ColliderBuilder>
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
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
The default friction coefficient used by the collider builder.
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
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
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
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 modify_solver_contacts(
self,
modify_solver_contacts: bool
) -> ColliderBuilder
self,
modify_solver_contacts: bool
) -> ColliderBuilder
If set to true
then the physics hooks will always run to modify
contacts involving this collider.
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
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
Sets the restitution coefficient of the collider this builder will build.
pub fn restitution_combine_rule(
self,
rule: CoefficientCombineRule
) -> ColliderBuilder
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
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
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, x: f32, y: f32, z: f32) -> ColliderBuilder
Sets the initial translation of the collider to be created, relative to the rigid-body it is attached to.
pub fn rotation(
self,
angle: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 3_usize, 1_usize>>
) -> ColliderBuilder
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, relative to the rigid-body it is attached to.
pub fn position_wrt_parent(
self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
Sets the initial position (translation and orientation) of the collider to be created, relative to the rigid-body it is attached to.
pub fn position(
self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
self,
pos: Isometry<f32, Unit<Quaternion<f32>>, 3_usize>
) -> ColliderBuilder
Use .position_wrt_parent
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
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.
pub fn build(&self) -> Collider
Builds a new collider attached to the given rigid-body.
Trait Implementations
impl Clone for ColliderBuilder
pub fn clone(&self) -> ColliderBuilder
pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
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
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
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> CloneAny for T where
T: Any + Clone,
T: Any + Clone,
impl<T> Component for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Downcast for T where
T: Any,
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> Downcast<T> for T
impl<T> DowncastSync for T where
T: Any + Send + Sync,
T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T> Instrument for T
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pub fn instrument(self, span: Span) -> Instrumented<Self>
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pub fn in_current_span(self) -> Instrumented<Self>
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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>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
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>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
impl<T> Upcast<T> for T
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,