pub struct Compound { /* private fields */ }
Expand description
A compound shape with an aabb bounding volume.
A compound shape is a shape composed of the union of several simpler shape. This is the main way of creating a concave shape from convex parts. Each parts can have its own delta transformation to shift or rotate it with regard to the other shapes.
Implementations
sourceimpl Compound
impl Compound
sourcepub fn new(
shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape), Global>
) -> Compound
pub fn new(
shapes: Vec<(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape), Global>
) -> Compound
Builds a new compound shape.
Panics if the input vector is empty, of if some of the provided shapes are also composite shapes (nested composite shapes are not allowed).
sourcepub fn decompose_trimesh(trimesh: &TriMesh) -> Option<Compound>
pub fn decompose_trimesh(trimesh: &TriMesh) -> Option<Compound>
Create a compound shape from the TriMesh
. This involves merging adjacent triangles into convex
polygons using the Hertel-Mehlhorn algorithm.
Can fail and return None
if any of the created shapes has close to zero or zero surface area.
sourceimpl Compound
impl Compound
sourcepub fn shapes(&self) -> &[(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)]
pub fn shapes(&self) -> &[(Isometry<f32, Unit<Complex<f32>>, 2>, SharedShape)]
The shapes of this compound shape.
sourcepub fn local_aabb(&self) -> &AABB
pub fn local_aabb(&self) -> &AABB
The AABB of this compound in its local-space.
sourcepub fn local_bounding_sphere(&self) -> BoundingSphere
pub fn local_bounding_sphere(&self) -> BoundingSphere
The bounding-sphere of this compound in its local-space.
Trait Implementations
sourceimpl PointQuery for Compound
impl PointQuery for Compound
sourcefn project_local_point(
&self,
point: &OPoint<f32, Const<2>>,
solid: bool
) -> PointProjection
fn project_local_point(
&self,
point: &OPoint<f32, Const<2>>,
solid: bool
) -> PointProjection
self
. Read moresourcefn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<2>>
) -> (PointProjection, FeatureId)
fn project_local_point_and_get_feature(
&self,
point: &OPoint<f32, Const<2>>
) -> (PointProjection, FeatureId)
self
and returns the id of the
feature the point was projected on. Read moresourcefn contains_local_point(&self, point: &OPoint<f32, Const<2>>) -> bool
fn contains_local_point(&self, point: &OPoint<f32, Const<2>>) -> bool
self
.sourcefn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<2>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
fn project_local_point_with_max_dist(
&self,
pt: &OPoint<f32, Const<2>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
self
, unless the projection lies further than the given max distance. Read moresourcefn project_point_with_max_dist(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
fn project_point_with_max_dist(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool,
max_dist: f32
) -> Option<PointProjection>
self
transformed by m
, unless the projection lies further than the given max distance.sourcefn distance_to_local_point(&self, pt: &OPoint<f32, Const<2>>, solid: bool) -> f32
fn distance_to_local_point(&self, pt: &OPoint<f32, Const<2>>, solid: bool) -> f32
self
.sourcefn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool
) -> PointProjection
fn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool
) -> PointProjection
self
transformed by m
.sourcefn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool
) -> f32
fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
pt: &OPoint<f32, Const<2>>,
solid: bool
) -> f32
self
transformed by m
.sourceimpl RayCast for Compound
impl RayCast for Compound
sourcefn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>
sourcefn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
sourcefn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
sourcefn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
fn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
sourceimpl Shape for Compound
impl Shape for Compound
sourcefn clone_box(&self) -> Box<dyn Shape + 'static, Global>
fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
sourcefn compute_local_aabb(&self) -> AABB
fn compute_local_aabb(&self) -> AABB
sourcefn compute_local_bounding_sphere(&self) -> BoundingSphere
fn compute_local_bounding_sphere(&self) -> BoundingSphere
sourcefn compute_aabb(&self, position: &Isometry<f32, Unit<Complex<f32>>, 2>) -> AABB
fn compute_aabb(&self, position: &Isometry<f32, Unit<Complex<f32>>, 2>) -> AABB
sourcefn mass_properties(&self, density: f32) -> MassProperties
fn mass_properties(&self, density: f32) -> MassProperties
sourcefn shape_type(&self) -> ShapeType
fn shape_type(&self) -> ShapeType
sourcefn as_typed_shape(&self) -> TypedShape<'_>
fn as_typed_shape(&self) -> TypedShape<'_>
fn ccd_thickness(&self) -> f32
fn ccd_angular_thickness(&self) -> f32
fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
sourcefn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2>
) -> BoundingSphere
fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2>
) -> BoundingSphere
sourcefn as_support_map(&self) -> Option<&dyn SupportMap>
fn as_support_map(&self) -> Option<&dyn SupportMap>
sourcefn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>
sourceimpl SimdCompositeShape for Compound
impl SimdCompositeShape for Compound
sourceimpl TypedSimdCompositeShape for Compound
impl TypedSimdCompositeShape for Compound
type PartShape = dyn Shape + 'static
type PartId = u32
fn map_typed_part_at(
&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
fn map_untyped_part_at(
&self,
i: u32,
f: impl FnMut(Option<&Isometry<f32, Unit<Complex<f32>>, 2>>, &<Compound as TypedSimdCompositeShape>::PartShape)
)
fn typed_qbvh(&self) -> &QBVH<u32>
Auto Trait Implementations
impl !RefUnwindSafe for Compound
impl Send for Compound
impl Sync for Compound
impl Unpin for Compound
impl !UnwindSafe for Compound
Blanket Implementations
impl<T, U> AsBindGroupShaderType<U> for Twhere
U: ShaderType,
&'a T: for<'a> Into<U>,
impl<T, U> AsBindGroupShaderType<U> for Twhere
U: ShaderType,
&'a T: for<'a> Into<U>,
fn as_bind_group_shader_type(
&self,
_images: &HashMap<Handle<Image>, <Image as RenderAsset>::PreparedAsset, RandomState, Global>
) -> U
fn as_bind_group_shader_type(
&self,
_images: &HashMap<Handle<Image>, <Image as RenderAsset>::PreparedAsset, RandomState, Global>
) -> U
T
[ShaderType
] for self
. When used in [AsBindGroup
]
derives, it is safe to assume that all images in self
exist. Read moresourceimpl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
impl<T> Downcast for Twhere
T: Any,
impl<T> Downcast for Twhere
T: Any,
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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 morefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read morefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
&Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read morefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
&mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read moresourceimpl<T> Instrument for T
impl<T> Instrument for T
sourcefn instrument(self, span: Span) -> Instrumented<Self>
fn instrument(self, span: Span) -> Instrumented<Self>
sourcefn in_current_span(self) -> Instrumented<Self>
fn in_current_span(self) -> Instrumented<Self>
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
self
from the equivalent element of its
superset. Read morefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
self
is actually part of its subset T
(and can be converted to it).fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
self.to_subset
but without any property checks. Always succeeds.fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
self
to the equivalent element of its superset.