[−][src]Struct oxygengine_physics_2d::prelude::Compound
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
impl<N> Compound<N> where
N: RealField,
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N: RealField,
pub fn new(
shapes: Vec<(Isometry<N, U2, Unit<Complex<N>>>, ShapeHandle<N>)>
) -> Compound<N>
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shapes: Vec<(Isometry<N, U2, Unit<Complex<N>>>, ShapeHandle<N>)>
) -> Compound<N>
Builds a new compound shape.
impl<N> Compound<N> where
N: RealField,
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N: RealField,
pub fn shapes(&self) -> &[(Isometry<N, U2, Unit<Complex<N>>>, ShapeHandle<N>)]ⓘ
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The shapes of this compound shape.
pub fn bvt(&self) -> &BVT<usize, AABB<N>>
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The optimization structure used by this compound shape.
pub fn aabb(&self) -> &AABB<N>
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The AABB of this compound in its local-space.
pub fn bounding_volumes(&self) -> &[AABB<N>]ⓘ
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The shapes bounding volumes.
pub fn aabb_at(&self, i: usize) -> &AABB<N>
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The AABB of the i-th shape compositing this compound.
pub fn subshape_feature_id(&self, fid: FeatureId) -> (usize, FeatureId)
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Transforms a FeatureId of this compound into a pair containing the index of the subshape containing this feature, and the corresponding FeatureId on this subshape.
Trait Implementations
impl<N> Clone for Compound<N> where
N: Clone + RealField,
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N: Clone + RealField,
impl<N> CompositeShape<N> for Compound<N> where
N: RealField,
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N: RealField,
fn nparts(&self) -> usize
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fn map_part_at(
&self,
i: usize,
m: &Isometry<N, U2, Unit<Complex<N>>>,
f: &mut dyn FnMut(&Isometry<N, U2, Unit<Complex<N>>>, &(dyn Shape<N> + 'static))
)
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&self,
i: usize,
m: &Isometry<N, U2, Unit<Complex<N>>>,
f: &mut dyn FnMut(&Isometry<N, U2, Unit<Complex<N>>>, &(dyn Shape<N> + 'static))
)
fn map_part_and_preprocessor_at(
&self,
i: usize,
m: &Isometry<N, U2, Unit<Complex<N>>>,
_prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, U2, Unit<Complex<N>>>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
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&self,
i: usize,
m: &Isometry<N, U2, Unit<Complex<N>>>,
_prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, U2, Unit<Complex<N>>>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
fn aabb_at(&self, i: usize) -> AABB<N>
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fn bvh(&self) -> BVHImpl<N, usize, AABB<N>>
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impl<N> HasBoundingVolume<N, AABB<N>> for Compound<N> where
N: RealField,
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N: RealField,
fn bounding_volume(&self, m: &Isometry<N, U2, Unit<Complex<N>>>) -> AABB<N>
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fn local_bounding_volume(&self) -> AABB<N>
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impl<N> HasBoundingVolume<N, BoundingSphere<N>> for Compound<N> where
N: RealField,
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N: RealField,
fn bounding_volume(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>
) -> BoundingSphere<N>
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>
) -> BoundingSphere<N>
fn local_bounding_volume(&self) -> BoundingSphere<N>
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impl<N> PointQuery<N> for Compound<N> where
N: RealField,
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N: RealField,
fn project_point(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
point: &Point<N, U2>,
solid: bool
) -> PointProjection<N>
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
point: &Point<N, U2>,
solid: bool
) -> PointProjection<N>
fn project_point_with_feature(
&self,
&Isometry<N, U2, Unit<Complex<N>>>,
&Point<N, U2>
) -> (PointProjection<N>, FeatureId)
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&self,
&Isometry<N, U2, Unit<Complex<N>>>,
&Point<N, U2>
) -> (PointProjection<N>, FeatureId)
fn contains_point(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
point: &Point<N, U2>
) -> bool
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
point: &Point<N, U2>
) -> bool
fn distance_to_point(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
pt: &Point<N, U2>,
solid: bool
) -> N
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
pt: &Point<N, U2>,
solid: bool
) -> N
impl<N> RayCast<N> for Compound<N> where
N: RealField,
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N: RealField,
fn toi_with_ray(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<N>
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<N>
fn toi_and_normal_with_ray(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
fn intersects_ray(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
ray: &Ray<N>,
max_toi: N
) -> bool
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>,
ray: &Ray<N>,
max_toi: N
) -> bool
impl<N> Shape<N> for Compound<N> where
N: RealField,
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N: RealField,
fn aabb(&self, m: &Isometry<N, U2, Unit<Complex<N>>>) -> AABB<N>
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fn local_aabb(&self) -> AABB<N>
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fn bounding_sphere(
&self,
m: &Isometry<N, U2, Unit<Complex<N>>>
) -> BoundingSphere<N>
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&self,
m: &Isometry<N, U2, Unit<Complex<N>>>
) -> BoundingSphere<N>
fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
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fn as_point_query(&self) -> Option<&dyn PointQuery<N>>
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fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
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fn is_composite_shape(&self) -> bool
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fn tangent_cone_contains_dir(
&self,
feature: FeatureId,
m: &Isometry<N, U2, Unit<Complex<N>>>,
Option<&[N]>,
dir: &Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>
) -> bool
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&self,
feature: FeatureId,
m: &Isometry<N, U2, Unit<Complex<N>>>,
Option<&[N]>,
dir: &Unit<Matrix<N, U2, U1, <DefaultAllocator as Allocator<N, U2, U1>>::Buffer>>
) -> bool
fn subshape_containing_feature(&self, feature: FeatureId) -> usize
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fn local_bounding_sphere(&self) -> BoundingSphere<N>
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fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
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fn as_support_map(&self) -> Option<&dyn SupportMap<N>>
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fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>
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fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>
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fn is_convex_polyhedron(&self) -> bool
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fn is_support_map(&self) -> bool
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fn is_deformable_shape(&self) -> bool
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impl<N> Volumetric<N> for Compound<N> where
N: RealField,
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N: RealField,
fn area(&self) -> N
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fn volume(&self) -> N
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fn center_of_mass(&self) -> Point<N, U2>
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fn unit_angular_inertia(
&self
) -> Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>
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&self
) -> Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>
fn mass_properties(
&self,
density: N
) -> (N, Point<N, U2>, Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>)
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&self,
density: N
) -> (N, Point<N, U2>, Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>)
The mass properties of this CompoundData
.
If density
is not zero, it will be multiplied with the density of every object of the
compound shape.
fn mass(&self, density: N) -> N
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fn angular_inertia(
&self,
mass: N
) -> Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>
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&self,
mass: N
) -> Matrix<N, U1, U1, <DefaultAllocator as Allocator<N, U1, U1>>::Buffer>
fn transformed_mass_properties(
&self,
density: N,
pos: &Isometry<N, U2, Unit<Complex<N>>>
) -> (Point<N, U2>, Inertia2<N>)
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&self,
density: N,
pos: &Isometry<N, U2, Unit<Complex<N>>>
) -> (Point<N, U2>, Inertia2<N>)
fn inertia(&self, density: N) -> Inertia2<N>
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Auto Trait Implementations
impl<N> !RefUnwindSafe for Compound<N>
impl<N> Send for Compound<N> where
N: Scalar,
N: Scalar,
impl<N> Sync for Compound<N> where
N: Scalar,
N: Scalar,
impl<N> Unpin for Compound<N> where
N: Scalar + Unpin,
N: Scalar + Unpin,
impl<N> !UnwindSafe for Compound<N>
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,
fn get_type_id(&self) -> TypeId
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,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
fn as_any(&self) -> &(dyn Any + 'static)
fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> Event for T where
T: Send + Sync + 'static,
T: Send + Sync + 'static,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Resource for T where
T: Any,
T: Any,
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>,
fn to_subset(&self) -> Option<SS>
fn is_in_subset(&self) -> bool
fn to_subset_unchecked(&self) -> SS
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.
fn to_owned(&self) -> T
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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.
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.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> UserData for T where
T: Clone + Send + Sync + Any,
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T: Clone + Send + Sync + Any,
fn clone_boxed(&self) -> Box<dyn UserData + 'static>
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fn to_any(&self) -> Box<dyn Any + 'static + Sync + Send>
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fn as_any(&self) -> &(dyn Any + 'static + Sync + Send)
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,