Struct CompoundShape 

pub struct CompoundShape {
    pub children: Vec<CompoundChild>,
}

A compound shape made of multiple lightweight primitive children.

Unlike Compound which uses Arc<dyn Shape>, this uses concrete enum variants for common shapes, avoiding dynamic dispatch and allocations.

Fields

children: Vec<CompoundChild>

The child shapes.

Implementations

impl CompoundShape

pub fn new() -> Self

Create an empty compound shape.

pub fn add_sphere(&mut self, center: [f64; 3], radius: f64)

Add a sphere child.

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

Add a box child.

pub fn add_capsule(&mut self, center: [f64; 3], radius: f64, half_height: f64)

Add a capsule child.

pub fn child_count(&self) -> usize

Return the number of children.

pub fn total_volume(&self) -> f64

Compute total volume of all children (no overlap correction).

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

Compute axis-aligned bounding box of all children.

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

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

Compute volume-weighted center of mass.

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

Test if a point is inside any child shape.

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

Ray cast against all children, returning (toi, normal, child_index) for the closest hit within max_toi.

impl CompoundShape

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

Compute the inertia tensor of the compound shape about its center of mass.

Uses the parallel axis theorem. density is the uniform mass density.

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

Compute the bounding sphere (center, radius) of the compound shape.

pub fn scale(&mut self, factor: f64)

Apply a uniform scaling to all child shape positions and sizes.

pub fn translate(&mut self, offset: [f64; 3])

Translate all child centers by the given offset.

pub fn merge_with(&self, other: &CompoundShape) -> CompoundShape

Returns a new compound shape merged with another (concatenation of children).

pub fn overlaps_sphere(&self, center: [f64; 3], radius: f64) -> bool

Compute the overlap (intersection test) with a sphere at center with radius.

Returns true if any child overlaps the query sphere.

pub fn ray_cast_all( &self, origin: [f64; 3], dir: [f64; 3], max_toi: f64, ) -> Vec<(f64, [f64; 3], usize)>

Recursively ray-cast with early exit once max_hits are found.

impl CompoundShape

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

Compute merged AABB over all children.

pub fn raycast( &self, ray_origin: [f64; 3], ray_dir: [f64; 3], max_t: f64, ) -> Option<(f64, usize)>

Ray cast returning (t, child_index) for the closest hit within max_t.

Unlike ray_cast this omits the normal to match the requested signature.

pub fn volume(&self) -> f64

Total volume of all children (sum of child volumes).

pub fn center_of_mass_weighted(&self, masses: &[f64]) -> [f64; 3]

Mass-weighted center of mass.

masses[i] is the mass of child i. If masses is shorter than children, remaining children have zero mass.

pub fn inertia_tensor_from_masses(&self, masses: &[f64]) -> [[f64; 3]; 3]

Inertia tensor about the compound center of mass using the parallel axis theorem.

masses[i] is the mass of child i.

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

Closest surface point to p among all children.

Returns (closest_point, child_index).

impl CompoundShape

pub fn remove_child(&mut self, index: usize)

Remove the child at the given index. Panics if index is out of range.

pub fn swap_remove_child(&mut self, index: usize)

Remove the child at the given index by swapping with the last element.

Faster than remove_child (O(1) vs O(n)) but changes the order of remaining children.

pub fn replace_with_sphere( &mut self, index: usize, center: [f64; 3], radius: f64, )

Replace the child at index with a new sphere.

pub fn replace_with_box( &mut self, index: usize, center: [f64; 3], half_extents: [f64; 3], )

Replace the child at index with a new box.

pub fn is_empty(&self) -> bool

Return true if the compound shape has no children.

pub fn clear(&mut self)

Clear all children.

pub fn closest_point_with_dist2(&self, p: [f64; 3]) -> ([f64; 3], f64, usize)

Closest surface point among all children together with the squared distance and the child index.

Returns (closest_point, squared_distance, child_index).

pub fn broad_phase_pairs(&self, other: &CompoundShape) -> Vec<(usize, usize)>

Check if two CompoundShape instances have any overlapping pair of children using conservative bounding-sphere overlap tests.

Returns the index pairs (i, j) of all overlapping child pairs.

pub fn overlaps_compound(&self, other: &CompoundShape) -> bool

Test if two CompoundShape instances overlap at all (broad phase).

pub fn centroid_with_densities(&self, densities: &[f64]) -> [f64; 3]

Compute the centroid of the compound (volume-weighted center) using per-child densities.

densities[i] is the density for child i. If densities is shorter than children, remaining children use density 1.0.

pub fn penetration_depth_sphere( &self, center: [f64; 3], radius: f64, ) -> Option<(f64, usize)>

Approximate penetration depth between this compound and a sphere at center with radius.

For each child, computes the signed distance to the child’s surface (negative inside). Returns the minimum signed distance (most negative = deepest penetration) together with the child index.

Returns None if there is no penetration.

pub fn child_masses(&self, density: f64) -> Vec<f64>

Compute per-child masses from a uniform density.

pub fn total_mass(&self, density: f64) -> f64

Total mass of the compound given uniform density.

pub fn child_aabb_public(child: &CompoundChild) -> ([f64; 3], [f64; 3])

Axis-aligned bounding box of a single child (public accessor).

pub fn expanded_aabb(&self, margin: f64) -> ([f64; 3], [f64; 3])

Compute the AABB expanded by a margin margin on all sides.

pub fn sphere_overlaps_aabb(&self, center: [f64; 3], radius: f64) -> bool

Test if a sphere (center, radius) overlaps the compound’s AABB.

Trait Implementations

impl Clone for CompoundShape

fn clone(&self) -> CompoundShape

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CompoundShape

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

Formats the value using the given formatter.

impl Default for CompoundShape

fn default() -> Self

Returns the “default value” for a type.