Struct CompoundShapeEx 

pub struct CompoundShapeEx {
    pub children: Vec<(LocalTransform, ChildShapeKind)>,
}

A CompoundShape variant that stores each child with an explicit LocalTransform, enabling full 6-DOF placement (translation + rotation).

Fields

children: Vec<(LocalTransform, ChildShapeKind)>

Children: (transform, shape kind).

Implementations

impl CompoundShapeEx

pub fn new() -> Self

Create an empty compound shape.

pub fn add_sphere(&mut self, transform: LocalTransform, radius: f64)

Add a sphere child with a local transform.

pub fn add_box(&mut self, transform: LocalTransform, half_extents: [f64; 3])

Add a box child with a local transform.

pub fn add_capsule( &mut self, transform: LocalTransform, radius: f64, half_height: f64, )

Add a capsule child with a local transform.

pub fn aabb(&self) -> ([f64; 3], [f64; 3])

Compute the union AABB of all children in world space.

Returns (min, max) as [f64; 3] arrays.

pub fn contains_point(&self, p: [f64; 3]) -> bool

Test if a world-space point is inside any child shape.

pub fn ray_cast( &self, origin: [f64; 3], dir: [f64; 3], ) -> Option<(f64, [f64; 3])>

Ray cast against all children; returns (toi, normal) for the nearest hit.

pub fn volume(&self) -> f64

Total volume of all children.

pub fn inertia_tensor(&self, density: f64) -> [[f64; 3]; 3]

Compute the inertia tensor about the world-origin using the parallel axis theorem.

Assumes uniform density density.

Trait Implementations

impl Clone for CompoundShapeEx

fn clone(&self) -> CompoundShapeEx

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CompoundShapeEx

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CompoundShapeEx

fn default() -> Self

Returns the “default value” for a type.