[−][src]Struct parry2d_f64::shape::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 Compound
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pub fn new(shapes: Vec<(Isometry<Real>, SharedShape)>) -> Compound
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Builds a new compound shape.
Panics if the input vector is empty, of if some of the provided shapes are also composite shapes (nested composite shapes are not allowed).
impl Compound
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pub fn shapes(&self) -> &[(Isometry<Real>, SharedShape)]
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The shapes of this compound shape.
pub fn local_aabb(&self) -> &AABB
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The AABB of this compound in its local-space.
pub fn aabbs(&self) -> &[AABB]
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The shapes AABBs.
pub fn quadtree(&self) -> &SimdQuadTree<u32>
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The acceleration structure used by this compound shape.
Trait Implementations
impl Clone for Compound
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impl PointQuery for Compound
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fn project_local_point(
&self,
point: &Point<Real>,
solid: bool
) -> PointProjection
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&self,
point: &Point<Real>,
solid: bool
) -> PointProjection
fn project_local_point_and_get_feature(
&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
point: &Point<Real>
) -> (PointProjection, FeatureId)
fn contains_local_point(&self, point: &Point<Real>) -> bool
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fn distance_to_local_point(&self, pt: &Point<Real>, solid: bool) -> Real
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fn project_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> PointProjection
fn distance_to_point(
&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
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&self,
m: &Isometry<Real>,
pt: &Point<Real>,
solid: bool
) -> Real
fn project_point_and_get_feature(
&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<Real>,
pt: &Point<Real>
) -> (PointProjection, FeatureId)
fn contains_point(&self, m: &Isometry<Real>, pt: &Point<Real>) -> bool
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impl RayCast for Compound
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fn cast_local_ray(&self, ray: &Ray, max_toi: Real, solid: bool) -> Option<Real>
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fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn intersects_local_ray(&self, ray: &Ray, max_toi: Real) -> bool
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fn cast_ray(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<Real>
fn cast_ray_and_get_normal(
&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<Real>,
ray: &Ray,
max_toi: Real,
solid: bool
) -> Option<RayIntersection>
fn intersects_ray(&self, m: &Isometry<Real>, ray: &Ray, max_toi: Real) -> bool
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impl Shape for Compound
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fn compute_local_aabb(&self) -> AABB
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fn compute_aabb(&self, position: &Isometry<Real>) -> AABB
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fn mass_properties(&self, density: Real) -> MassProperties
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fn shape_type(&self) -> ShapeType
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fn ccd_thickness(&self) -> Real
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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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fn is_convex(&self) -> bool
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fn as_support_map(&self) -> Option<&dyn SupportMap>
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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, Real)>
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fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
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&self,
_feature: FeatureId,
_point: &Point<Real>
) -> Option<Unit<Vector<Real>>>
impl SimdCompositeShape for Compound
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fn map_part_at(
&self,
shape_id: u32,
f: &mut dyn FnMut(Option<&Isometry<Real>>, &dyn Shape)
)
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&self,
shape_id: u32,
f: &mut dyn FnMut(Option<&Isometry<Real>>, &dyn Shape)
)
fn quadtree(&self) -> &SimdQuadTree<u32>
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impl TypedSimdCompositeShape for Compound
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type PartShape = dyn Shape
type PartId = u32
fn map_typed_part_at(
&self,
i: u32,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape)
)
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&self,
i: u32,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape)
)
fn map_untyped_part_at(
&self,
i: u32,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape)
)
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&self,
i: u32,
mut f: impl FnMut(Option<&Isometry<Real>>, &Self::PartShape)
)
fn typed_quadtree(&self) -> &SimdQuadTree<u32>
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Auto Trait Implementations
impl !RefUnwindSafe for Compound
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impl Send for Compound
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impl Sync for Compound
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impl Unpin for Compound
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impl !UnwindSafe for Compound
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Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
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,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Send + Sync + Any,
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T: Send + Sync + Any,
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<Src, Dst> LosslessTryInto<Dst> for Src where
Dst: LosslessTryFrom<Src>,
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Dst: LosslessTryFrom<Src>,
pub fn lossless_try_into(self) -> Option<Dst>
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impl<Src, Dst> LossyInto<Dst> for Src where
Dst: LossyFrom<Src>,
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Dst: LossyFrom<Src>,
pub fn lossy_into(self) -> Dst
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impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub 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.
pub 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.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,