Struct Compound 

pub struct Compound<N>
where
    N: RealField + Copy,
{ /* private fields */ }

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 + Copy,

pub fn new( shapes: Vec<(Isometry<N, Unit<Complex<N>>, 2>, ShapeHandle<N>)>, ) -> Compound<N>

Builds a new compound shape.

impl<N> Compound<N>

where N: RealField + Copy,

pub fn shapes(&self) -> &[(Isometry<N, Unit<Complex<N>>, 2>, ShapeHandle<N>)]

The shapes of this compound shape.

pub fn bvt(&self) -> &BVT<usize, AABB<N>>

The optimization structure used by this compound shape.

pub fn aabb(&self) -> &AABB<N>

The AABB of this compound in its local-space.

pub fn bounding_volumes(&self) -> &[AABB<N>]

The shapes bounding volumes.

pub fn aabb_at(&self, i: usize) -> &AABB<N>

The AABB of the i-th shape compositing this compound.

pub fn subshape_feature_id(&self, fid: FeatureId) -> (usize, FeatureId)

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 + Copy,

fn clone(&self) -> Compound<N>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<N> CompositeShape<N> for Compound<N>

where N: RealField + Copy,

fn nparts(&self) -> usize

The number of sub-shape in this composide shape.

fn map_part_at( &self, i: usize, m: &Isometry<N, Unit<Complex<N>>, 2>, f: &mut dyn FnMut(&Isometry<N, Unit<Complex<N>>, 2>, &(dyn Shape<N> + 'static)), )

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn map_part_and_preprocessor_at( &self, i: usize, m: &Isometry<N, Unit<Complex<N>>, 2>, _prediction: &ContactPrediction<N>, f: &mut dyn FnMut(&Isometry<N, Unit<Complex<N>>, 2>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>), )

Applies a transformation matrix and a function to each sub-shape of this concave shape.

fn aabb_at(&self, i: usize) -> AABB<N>

Gets the AABB of the shape identified by the index i.

fn bvh(&self) -> BVHImpl<'_, N, usize, AABB<N>>

Gets the acceleration structure of the concave shape.

impl<N> HasBoundingVolume<N, AABB<N>> for Compound<N>

where N: RealField + Copy,

fn bounding_volume(&self, m: &Isometry<N, Unit<Complex<N>>, 2>) -> AABB<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> AABB<N>

The bounding volume of self.

impl<N> HasBoundingVolume<N, BoundingSphere<N>> for Compound<N>

where N: RealField + Copy,

fn bounding_volume( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, ) -> BoundingSphere<N>

The bounding volume of self transformed by m.

fn local_bounding_volume(&self) -> BoundingSphere<N>

The bounding volume of self.

impl<N> PointQuery<N> for Compound<N>

where N: RealField + Copy,

fn project_point( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, point: &OPoint<N, Const<2>>, solid: bool, ) -> PointProjection<N>

Projects a point on self transformed by m.

fn project_point_with_feature( &self, _: &Isometry<N, Unit<Complex<N>>, 2>, _: &OPoint<N, Const<2>>, ) -> (PointProjection<N>, FeatureId)

Projects a point on the boundary of self transformed by m and retuns the id of the feature the point was projected on.

fn contains_point( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, point: &OPoint<N, Const<2>>, ) -> bool

Tests if the given point is inside of self transformed by m.

fn distance_to_point( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, pt: &OPoint<N, Const<2>>, solid: bool, ) -> N

Computes the minimal distance between a point and self transformed by m.

impl<N> RayCast<N> for Compound<N>

where N: RealField + Copy,

fn toi_with_ray( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, ray: &Ray<N>, max_toi: N, solid: bool, ) -> Option<N>

Computes the time of impact between this transform shape and a ray.

fn toi_and_normal_with_ray( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, 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.

fn intersects_ray( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, ray: &Ray<N>, max_toi: N, ) -> bool

Tests whether a ray intersects this transformed shape.

impl<N> Shape<N> for Compound<N>

where N: RealField + Copy,

fn aabb(&self, m: &Isometry<N, Unit<Complex<N>>, 2>) -> AABB<N>

The AABB of self transformed by m.

fn local_aabb(&self) -> AABB<N>

The AABB of self.

fn bounding_sphere( &self, m: &Isometry<N, Unit<Complex<N>>, 2>, ) -> BoundingSphere<N>

The bounding sphere of self transformed by m.

fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>

The RayCast implementation of self.

fn as_point_query(&self) -> Option<&dyn PointQuery<N>>

The PointQuery implementation of self.

fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>

The composite shape representation of self if applicable.

fn is_composite_shape(&self) -> bool

Whether self uses a composite shape-based representation.

fn tangent_cone_contains_dir( &self, feature: FeatureId, m: &Isometry<N, Unit<Complex<N>>, 2>, _: Option<&[N]>, dir: &Unit<Matrix<N, Const<nalgebra::::base::dimension::U2::{constant#0}>, Const<1>, ArrayStorage<N, 2, 1>>>, ) -> bool

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.

fn subshape_containing_feature(&self, feature: FeatureId) -> usize

Returns the id of the subshape containing the specified feature.

fn local_bounding_sphere(&self) -> BoundingSphere<N>

The bounding sphere of self.

fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>

The convex polyhedron representation of self if applicable.

fn as_support_map(&self) -> Option<&dyn SupportMap<N>>

The support mapping of self if applicable.

fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>

The deformable shape representation of self if applicable.

fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>

The mutable deformable shape representation of self if applicable.

fn is_convex_polyhedron(&self) -> bool

Whether self uses a convex polyhedron representation.

fn is_support_map(&self) -> bool

Whether self uses a support-mapping based representation.

fn is_deformable_shape(&self) -> bool

Whether self uses a composite shape-based representation.

impl<N> Volumetric<N> for Compound<N>

where N: RealField + Copy,

fn mass_properties( &self, density: N, ) -> (N, OPoint<N, Const<2>>, Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>>)

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 area(&self) -> N

Computes the area of this object.

fn volume(&self) -> N

Computes the volume of this object.

fn center_of_mass(&self) -> OPoint<N, Const<2>>

Computes the center of mass of this object.

fn unit_angular_inertia( &self, ) -> Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>>

Computes the angular inertia tensor of this object.

fn mass(&self, density: N) -> N

Given its density, this computes the mass of this object.

fn angular_inertia( &self, mass: N, ) -> Matrix<N, Const<1>, Const<1>, ArrayStorage<N, 1, 1>>

Given its mass, this computes the angular inertia of this object.

fn transformed_mass_properties( &self, density: N, pos: &Isometry<N, Unit<Complex<N>>, 2>, ) -> (OPoint<N, Const<2>>, Inertia2<N>)

Given its density and position, this computes the mass, transformed center of mass, and transformed inertia tensor of this object.

fn inertia(&self, density: N) -> Inertia2<N>