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CompoundShapeEx

oxiphysics_geometry::compound::types

Struct CompoundShapeEx 

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

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

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§children: Vec<(LocalTransform, ChildShapeKind)>

Children: (transform, shape kind).

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impl CompoundShapeEx

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pub fn new() -> Self

Create an empty compound shape.

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

Add a sphere child with a local transform.

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

Add a box child with a local transform.

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

Add a capsule child with a local transform.

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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.

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

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

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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.

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pub fn volume(&self) -> f64

Total volume of all children.

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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.

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impl Clone for CompoundShapeEx

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fn clone(&self) -> CompoundShapeEx

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more
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impl Debug for CompoundShapeEx

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

Formats the value using the given formatter. Read more
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impl Default for CompoundShapeEx

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fn default() -> Self

Returns the “default value” for a type. Read more

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🔬This is a nightly-only experimental API. (clone_to_uninit)
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