Struct oxygengine_physics_2d::prelude::Compound [−][src]
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
The shapes of this compound shape.
The optimization structure used by this compound shape.
The shapes bounding volumes.
The AABB of the i-th shape compositing this compound.
Trait Implementations
Applies a transformation matrix and a function to each sub-shape of this concave shape. Read more
pub fn map_part_and_preprocessor_at(
&self,
i: usize,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
_prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, Unit<Complex<N>>, 2_usize>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
pub fn map_part_and_preprocessor_at(
&self,
i: usize,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
_prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, Unit<Complex<N>>, 2_usize>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
Applies a transformation matrix and a function to each sub-shape of this concave shape. Read more
Gets the AABB of the shape identified by the index i
.
The bounding volume of self
transformed by m
.
The bounding volume of self
.
pub fn bounding_volume(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> BoundingSphere<N>
pub fn bounding_volume(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> BoundingSphere<N>
The bounding volume of self
transformed by m
.
The bounding volume of self
.
pub fn project_point(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
point: &OPoint<N, Const<2_usize>>,
solid: bool
) -> PointProjection<N>
pub fn project_point(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
point: &OPoint<N, Const<2_usize>>,
solid: bool
) -> PointProjection<N>
Projects a point on self
transformed by m
.
Projects a point on the boundary of self
transformed by m
and retuns the id of the
feature the point was projected on. Read more
Tests if the given point is inside of self
transformed by m
.
Computes the time of impact between this transform shape and a ray.
pub fn toi_and_normal_with_ray(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
pub fn toi_and_normal_with_ray(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
Computes the time of impact, and normal between this transformed shape and a ray.
The AABB of self
transformed by m
.
The AABB of self
.
pub fn bounding_sphere(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> BoundingSphere<N>
pub fn bounding_sphere(
&self,
m: &Isometry<N, Unit<Complex<N>>, 2_usize>
) -> BoundingSphere<N>
The bounding sphere of self
transformed by m
.
The RayCast
implementation of self
.
The PointQuery
implementation of self
.
The composite shape representation of self
if applicable.
Whether self
uses a composite shape-based representation.
Check if if the feature _feature
of the i-th
subshape of self
transformed by m
has a tangent
cone that contains dir
at the point pt
. Read more
Returns the id of the subshape containing the specified feature. Read more
The bounding sphere of self
.
The convex polyhedron representation of self
if applicable.
The support mapping of self
if applicable.
The deformable shape representation of self
if applicable.
The mutable deformable shape representation of self
if applicable.
Whether self
uses a convex polyhedron representation.
Whether self
uses a support-mapping based representation.
Whether self
uses a composite shape-based representation.
pub fn mass_properties(
&self,
density: N
) -> (N, OPoint<N, Const<2_usize>>, Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>)
pub fn mass_properties(
&self,
density: N
) -> (N, OPoint<N, Const<2_usize>>, Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>)
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.
Computes the center of mass of this object.
pub fn unit_angular_inertia(
&self
) -> Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>
pub fn unit_angular_inertia(
&self
) -> Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>
Computes the angular inertia tensor of this object.
fn angular_inertia(
&self,
mass: N
) -> Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>
fn angular_inertia(
&self,
mass: N
) -> Matrix<N, Const<1_usize>, Const<1_usize>, ArrayStorage<N, 1_usize, 1_usize>>
Given its mass, this computes the angular inertia of this object.
Given its density and position, this computes the mass, transformed center of mass, and transformed inertia tensor of this object.
Auto Trait Implementations
impl<N> !RefUnwindSafe for Compound<N>
impl<N> !UnwindSafe for Compound<N>
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert 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 more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.